Light deflection device, transmitting module, laser radar system and electronic equipment

Abstract

The utility model discloses a light deflection device, a transmitting module, a laser radar system and electronic equipment. The light deflection device comprises a first light deflection device, a second light deflection device and a polarization expanding device arranged on the light inlet side of the second light deflection device. The first light deflection device is configured to deflect the incident light beam by a plurality of first deflection angles and project the deflected light beam to the polarization expanding device; the polarization expanding device is configured to amplify the deflection angle of the deflected light beam in the corresponding deflection direction by a preset multiple and project the expanded light beam to the corresponding position of the second light deflection device; and the second light deflection device is configured to deflect the expanded light beam by a preset second deflection angle. The light deflection angle can be continuously and finely adjusted within a larger angle range, and the structure of the light deflection device is miniaturized.

Description

Technical Field

[0001] The utility model relates to the technical field of depth sensing, and in particular to a light deflection device, a transmitting module, a laser radar system and an electronic device. Background Art

[0002] In recent years, depth sensing systems, such as LiDAR, have begun to be commercialized on a large scale in the fields of optoelectronic sensing, intelligent manufacturing, 3D navigation and imaging. Among them, the one with the highest commercial value and the greatest development potential is to provide real-time road information as a light detection device for intelligent driving. This requires LiDAR to be able to detect various road signs and obstacles less than one meter in a wide field of view within a range of about 300 meters, and have a signal update rate of ten to tens of frames per second to meet the application scenario of high-speed vehicle driving. While meeting the ranging performance, the product needs to have a relatively small size. In order to meet the above performance requirements, the current mainstream commercial vehicle-mounted lasers use mechanical rotating mirrors or MEMS galvanometer semi-solid scanning to time-share the targets in the scanned field of view. However, due to the presence of rotating parts, the system reliability and maintainability are not high.

[0003] Compared with traditional mechanical rotating mirror and semi-solid laser radars, all-solid-state laser radars have significant advantages in system cost and reliability. The current mainstream direct time of flight (DTOF) Flash-type all-solid-state blind laser radar, such as the laser radar disclosed in the Chinese patent application with application number CN202321460026.5, uses wide-area light emission to cover the entire field of view, and uses a planar array SPAD array at the receiving end to receive the reflected echo signal in time and partition, ultimately achieving three-dimensional imaging of targets within tens of meters. Without changing the frame rate, detection angle and angular resolution, in order to meet the needs of vehicle navigation, the detection power needs to be increased to make the detection distance reach hundreds of meters. This is currently limited by the system's heat dissipation capacity and cost control requirements, and is difficult to achieve in engineering.

[0004] In order to improve the detection distance of all-solid-state laser radar, in the all-solid-state optical scanning process, it is considered to use a light deflection structure to amplify the light deflection angle. For example, an acousto-optic deflector (AOD) combined with a liquid crystal polarization grating (LCPG) can be used for secondary deflection to achieve continuous and fine adjustment of the one-dimensional light beam deflection angle within a larger angle range. Utility Model Content

[0005] The inventors of the present application found that when using an AOD in combination with an LCPG to achieve optical deflection, the light beam deflected by the AOD needs to travel a relatively long distance to separate light beams with different deflection angles, resulting in a relatively large distance between the LCPG and the AOD. The larger the distance between the two, the larger the spot size of the light beam after reaching the LCPG, which leads to a very large size requirement for the LCPG. The large size of the LCPG and the large distance between the LCPG and the AOD will result in an increase in the overall size of the optical deflection structure, making the overall shape of the lidar very large, with higher requirements for the installation space, and also increasing the installation difficulty and equipment cost, failing to meet the requirements for equipment miniaturization in various application scenarios of lidar.

[0006] In view of the above problems, the present utility model is proposed to provide an optical deflection device, a transmitting module, a lidar system, an electronic device, and an optical scanning method that overcome or at least partially solve the above problems.

[0007] An embodiment of the present utility model provides an optical deflection device, including a first optical deflection device, a second optical deflection device, and a beam expansion device disposed on the incident light side of the second optical deflection device;

[0008] The first optical deflection device is configured to deflect an incident light beam by a plurality of first deflection angles and project the deflected light beam onto the beam expansion device;

[0009] The beam expansion device is configured to amplify the deflection angle of the deflected light beam in the corresponding deflection direction by a preset multiple U and project the beam-expanded light beam onto a corresponding position of the second optical deflection device; where 1 < U < 10;

[0010] The second optical deflection device is configured to deflect the beam-expanded light beam by a preset second deflection angle.

[0011] In some optional embodiments, the beam expansion device includes at least one beam expansion lens, and the beam expansion lens is a single lens or a combination of two or more lenses; the beam expansion lens includes at least one or any combination of a cylindrical lens, a spherical lens, a meta-lens, and a Fresnel lens;

[0012] The at least one beam expansion lens is configured to amplify the deflection angle of the light beam deflected by the first optical deflection device by a preset multiple in at least one of the mutually perpendicular first direction and second direction.

[0013] In some optional embodiments, the focal length of the beam expansion lens is set according to the magnification of the deflection angle; when the beam expansion device includes two beam expansion lenses, one side focus of one beam expansion lens coincides with one side focus of the other beam expansion lens, and the magnification is the ratio of the focal lengths of the two beam expansion lenses.

[0014] In some alternative embodiments, the distance between the first optical deflector and the first expansion lens of the beam expansion device is the focal length of the first expansion lens; the distance between two adjacent expansion lenses is the sum of the focal lengths of the two adjacent lenses.

[0015] In some alternative embodiments, the beam expansion device includes at least one of a first cylindrical lens group and a second cylindrical lens group; the first cylindrical lens group includes a first beam expansion cylindrical lens and a second beam expansion cylindrical lens, and is configured to magnify the deflection angle of the beam deflected by the first optical deflector in a first direction by a preset multiple, where the preset multiple is the ratio of the focal length of the first beam expansion cylindrical lens to the focal length of the second beam expansion cylindrical lens; the second cylindrical lens group includes a third beam expansion cylindrical lens and a fourth beam expansion cylindrical lens, and is configured to magnify the deflection angle of the beam deflected by the first optical deflector in a second direction by a preset multiple, where the preset multiple is the ratio of the focal length of the third beam expansion cylindrical lens to the focal length of the fourth beam expansion cylindrical lens; or

[0016] The beam expansion device includes a first beam expansion spherical lens and a second beam expansion spherical lens, and is configured to magnify the deflection angles of the beam deflected by the first optical deflector in the first direction and the second direction by a preset multiple, where the preset multiple is the ratio of the focal length of the first beam expansion spherical lens to the focal length of the second beam expansion spherical lens.

[0017] In some alternative embodiments, the expansion lens is configured to magnify the divergence angle of the beam deflected by the first optical deflector in the corresponding deflection direction by a preset multiple, and the divergence angle magnification factor is the same as the deflection angle magnification factor of the deflected beam in this deflection direction.

[0018] In some alternative embodiments, the first optical deflector is an acousto-optic deflector, and the second optical deflector is a liquid crystal polarization grating. The liquid crystal material of the liquid crystal layer in the liquid crystal polarization grating sheet included in the liquid crystal polarization grating is nematic liquid crystal or blue phase liquid crystal.

[0019] In some alternative embodiments, the deflection accuracy of the first optical deflector for the beam is higher than that of the second optical deflector for the beam.

[0020] In some alternative embodiments, the first optical deflector is configured such that, among multiple different first deflection angles of the incident beam deflection, the angular interval between two adjacent first deflection angles is less than or equal to the divergence angle of the beam deflected by the first optical deflector along the deflection direction.

[0021] In some alternative embodiments, the first optical deflector is configured to sequentially deflect the incident beam by multiple different first deflection angles in at least one of the first direction and the second direction;

[0022] The second light deflector is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in at least one of a first direction and a second direction; the first direction and the second direction are perpendicular to each other.

[0023] In some alternative embodiments, the first light deflector is configured to sequentially deflect the incident beam by a plurality of different first deflection angles in the first direction or the second direction; the second light deflector is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in a two-dimensional array manner in the first direction and the second direction; or

[0024] The first light deflector is configured to sequentially deflect the incident beam by a plurality of different first deflection angles in a two-dimensional array manner in the first direction and the second direction; the second light deflector is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in a two-dimensional array manner in the first direction and the second direction;

[0025] or

[0026] The first light deflector is configured to sequentially deflect the incident beam by a plurality of different first deflection angles in a two-dimensional array manner in the first direction and the second direction; the second light deflector is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in the first direction or the second direction;

[0027] or

[0028] The first light deflector is configured to sequentially deflect the incident beam by a plurality of different first deflection angles in the first direction; the second light deflector is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in the second direction;

[0029] or

[0030] The first light deflector is configured to sequentially deflect the incident beam by a plurality of different first deflection angles in the second direction; the second light deflector is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in the first direction.

[0031] In some alternative embodiments, the length of the beam incident on the first light deflector in the first direction is less than the length in the second direction;

[0032] The first direction is the deflection direction in which the first light deflector deflects the incident beam.

[0033] In some alternative embodiments, the second light deflector includes at least one light deflection unit, and the at least one light deflection unit is configured to deflect the beam after beam expansion in the first direction or the second direction; or

[0034] The second light deflection device includes at least two light deflection unit groups, and each light deflection unit group includes at least one light deflection unit. Among them, at least one light deflection unit group is configured to deflect the beam after beam expansion in a first direction, and at least one light deflection unit group is configured to deflect the beam after beam expansion in a second direction.

[0035] In some alternative embodiments, the first light deflection device is configured to deflect an incident beam by a plurality of different first deflection angles within a deflection period, and project the deflected beam onto a beam expansion device, so that the beam expanded by the beam expansion device is incident on different positions of the second light deflection device.

[0036] The deflection period is the time required for the first light deflection device to deflect the incident beam by all of the plurality of different first deflection angles, or the deflection period is the time required for the first light deflection device to deflect the incident beam by a specified part of the first deflection angles among the first deflection angles.

[0037] In some alternative embodiments, within a deflection period, the plurality of different first deflection angles of the beam change from large to small, or from small to large, or change according to a preset random rule in the corresponding deflection direction.

[0038] In some alternative embodiments, the second light deflection device includes a plurality of deflection partitions, and the deflection angle of the incident beam for each deflection partition can be adjusted independently; the plurality of deflection partitions are configured such that the currently scanned deflection partition deflects the incident beam by a required second deflection angle.

[0039] The light deflection device further includes a control device, which is used to control the currently scanned deflection partition in the second light deflection device to deflect the incident beam, and control at least one currently unscanned deflection partition to adjust its deflection angle for the beam, so that the deflection angle of at least one deflection partition for the incident beam is adjusted to the second deflection angle required for the next deflection period after the scanning of the incident beam in the current deflection period ends and before the scanning of the incident beam in the next deflection period starts.

[0040] In some alternative embodiments, the control device is used to control the first light deflection device to deflect the incident beam by a plurality of different first deflection angles in a time-sharing manner within a deflection period, so as to correspondingly be incident on a plurality of deflection partitions on the second light deflection device, and the plurality of deflection partitions receive the incident beam in a time-sharing manner and deflect the incident beam.

[0041] In some alternative embodiments, the first light deflector is configured to sequentially incident, within a deflection period, incident light beams with a plurality of different first deflection angles onto corresponding deflection sub-regions in the second light deflector in a preset order; one deflection sub-region is configured to deflect an incident light beam by a corresponding second deflection angle within a deflection period.

[0042] In some alternative embodiments, the plurality of deflection sub-regions are configured to deflect the incident light beam by a plurality of second deflection angles that are all the same, all different, or partially the same and partially different within a deflection period.

[0043] In some alternative embodiments, one deflection sub-region can be configured to sequentially receive the expanded light beams corresponding to incident light beams with one, two, or more than two different first deflection angles within a deflection period.

[0044] In some alternative embodiments, the arrangement direction of the plurality of deflection sub-regions is consistent with the scanning direction of the incident light beams with a plurality of different first deflection angles.

[0045] In some alternative embodiments, when the incident light beam is a bar-shaped light beam with an aspect ratio greater than a set threshold, the first light deflector is configured to deflect the incident light beam by a plurality of different first deflection angles along a first direction within a deflection period to perform one-dimensional scanning on the second light deflector, and the plurality of deflection sub-regions included in the second light deflector are arranged along the first direction of the light beam deflection;

[0046] When the incident light beam is a non-bar-shaped light beam with an aspect ratio within the set threshold range, the first light deflector is configured to deflect by a plurality of different first deflection angles in a two-dimensional array scanning manner along the mutually perpendicular first direction and second direction within a deflection period to perform two-dimensional scanning on the second light deflector, and the plurality of deflection sub-regions included in the second light deflector are arranged in a two-dimensional array along the first direction and the second direction; the first direction is the width direction of the light beam, and the first direction is perpendicular to the second direction.

[0047] In some alternative embodiments, the plurality of deflection sub-regions are configured such that the number of incident light beams received by each deflection sub-region is all the same, all different, or partially the same and partially different; correspondingly, the widths of the plurality of deflection sub-regions are all the same, all different, or partially the same and partially different.

[0048] In some alternative embodiments, the light beam incident surface of the deflection sub-region is a rectangle with an aspect ratio greater than a set threshold, the width direction of the deflection sub-region is consistent with the scanning direction of the incident light beams with a plurality of different first deflection angles, and the width of each deflection sub-region is determined according to the number of incident light beams received and the width of the incident light beam.

[0049] In some alternative embodiments, the control device is specifically configured to: after determining that a deflection partition has completed the optical deflection of the current deflection cycle and is in a non-scanning state, control the deflection partition to adjust its deflection angle of the light beam, and before entering the scanning state in the next deflection cycle, adjust its deflection angle of the light beam to a second deflection angle required for the next deflection cycle.

[0050] In some alternative embodiments, the control device is specifically configured to: determine the deflection partitions in the scanning state and the deflection partitions in the non-scanning state according to the scanning position of the light beam on the second optical deflection device; for the deflection partitions in the non-scanning state, if the incident scanning order of the deflection partition is before that of the deflection partitions in the scanning state, it is considered that the deflection partition has completed the light beam deflection of the current deflection cycle.

[0051] In some alternative embodiments, if a deflection partition is the deflection partition currently scanned by the incident light beam, it is determined that the deflection partition is in the scanning state, otherwise, it is determined that the deflection partition is in the non-scanning state; or

[0052] If a deflection partition is the deflection partition currently scanned by the incident light beam or the next deflection partition to be scanned, it is determined that the deflection partition is in the scanning state, otherwise, it is determined that the deflection partition is in the non-scanning state.

[0053] In some alternative embodiments, the deflection partition currently scanned by the incident light beam and the next deflection partition to be scanned are determined as the deflection partitions in the scanning state, and the remaining deflection partitions are determined as the deflection partitions in the non-scanning state; the deflection partition currently scanned by the incident light beam and the next deflection partition to be scanned are adjacent deflection partitions in position.

[0054] In some alternative embodiments, when the second optical deflection device is of a non-partitioned structure, the control device is configured to control the voltage applied to the electrodes of the second optical deflection device to adjust the refractive index of the medium in the second optical deflection device for the incident light beam, so as to adjust the deflection angle of the second optical deflection device for the incident light beam;

[0055] When the second optical deflection device is of a partitioned structure, the control device is configured to control the voltage applied to the electrodes of each deflection partition to adjust the refractive index of the medium in the deflection partition for the incident light beam, so as to adjust the deflection angle of the deflection partition for the incident light beam.

[0056] In some alternative embodiments, when the second optical deflection device uses a liquid crystal polarization grating and is of a non-partitioned structure, the control device is configured to control the voltage applied to the electrodes of the second optical deflection device to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the second optical deflection device for the incident light beam;

[0057] When the second light deflection device uses a liquid crystal polarization grating and has a partitioned structure, the control device is used to control the voltage applied to the electrodes of each deflection partition to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the incident light beam by the deflection partition.

[0058] In some optional embodiments, when the second light deflection device includes at least one light deflection unit, the light deflection unit includes a plurality of sub-deflection partitions; the deflection partition includes the sub-deflection partitions corresponding in position in the at least one light deflection unit; the sub-deflection partitions in at least one light deflection unit included in one deflection partition can form a deflection light path.

[0059] In some optional embodiments, when the second light deflection device includes one light deflection unit, the deflection partition is a sub-deflection partition on this one light deflection unit; when the second light deflection device includes two light deflection units, the deflection partition includes two sub-deflection partitions corresponding in position on these two light deflection units; when the second light deflection device includes a plurality of light deflection units, the deflection partition includes a plurality of sub-deflection partitions corresponding in position on these plurality of light deflection units.

[0060] In some optional embodiments, the control device is specifically configured to: control the voltages on the electrodes at both ends of each sub-deflection partition respectively, and change the deflection angle of the incident light beam by at least one sub-deflection partition by changing the voltages on the electrodes at both ends of at least one sub-deflection partition, so as to achieve changing the second deflection angle of the incident light beam by the corresponding deflection partition.

[0061] In some optional embodiments, the light deflection unit includes a liquid crystal half-wave plate and a liquid crystal polarization grating plate. The liquid crystal half-wave plate includes electrodes oppositely arranged on both sides and a half-wave plate liquid crystal layer arranged between the electrodes on both sides;

[0062] One side electrode of the liquid crystal half-wave plate includes a plurality of first electrode blocks, and the other side electrode is a first integral electrode. Each sub-deflection partition corresponds to at least one first electrode block; each sub-deflection partition includes a part of the liquid crystal half-wave plate corresponding to the at least one first electrode block in position and a part of the liquid crystal polarization grating plate corresponding to the at least one first electrode block in position; or

[0063] Both sides electrodes of the liquid crystal half-wave plate include a plurality of first electrode blocks, and two opposite first electrode blocks form a first electrode pair. Each sub-deflection partition corresponds to at least one first electrode pair; each sub-deflection partition includes a part of the liquid crystal half-wave plate corresponding to the at least one first electrode pair in position and a part of the liquid crystal polarization grating plate corresponding to the at least one first electrode pair in position;

[0064] Among them, the deflection angle of the corresponding rotor partition for the light beam is adjusted by changing the voltage applied to the electrode corresponding to the rotor partition in the liquid crystal half-wave plate.

[0065] In some alternative embodiments, the light deflection unit includes a liquid crystal half-wave plate and a liquid crystal polarization grating plate; the liquid crystal half-wave plate includes electrodes disposed oppositely on both sides and a half-wave plate liquid crystal layer disposed between the electrodes on both sides; the liquid crystal polarization grating plate includes electrodes disposed oppositely on both sides and a grating liquid crystal layer disposed between the electrodes on both sides;

[0066] One side electrode of the liquid crystal half-wave plate includes a plurality of first electrode blocks, and the other side electrode is a first integral electrode; one side electrode of the liquid crystal polarization grating plate includes a plurality of second electrode blocks, and the other side electrode is a second integral electrode; at least one second electrode block on the liquid crystal polarization grating plate and at least one first electrode block corresponding in position on the liquid crystal half-wave plate form a block group; or

[0067] Both sides electrodes of the liquid crystal half-wave plate include a plurality of first electrode blocks, and two opposite first electrode blocks form a first electrode pair; both sides electrodes of the liquid crystal polarization grating plate include a plurality of second electrode blocks, and two opposite second electrode blocks form a second electrode pair; at least one second electrode pair on the liquid crystal polarization grating plate and at least one first electrode pair corresponding in position on the liquid crystal half-wave plate form a block group; or

[0068] One side electrode of the liquid crystal polarization grating plate includes a plurality of second electrode blocks, and the other side electrode is a second integral electrode; both sides electrodes of the liquid crystal half-wave plate include a plurality of first electrode blocks, and two opposite first electrode blocks form a first electrode pair; at least one second electrode block on the liquid crystal polarization grating plate and at least one first electrode pair corresponding in position on the liquid crystal half-wave plate form a block group; or

[0069] Both sides electrodes of the liquid crystal polarization grating plate include a plurality of second electrode blocks, and two opposite second electrode blocks form a second electrode pair, one side electrode of the liquid crystal half-wave plate includes a plurality of first electrode blocks, and the other side electrode is a first integral electrode; at least one second electrode pair on the liquid crystal polarization grating plate and at least one first electrode block corresponding in position on the liquid crystal half-wave plate form a block group;

[0070] Each rotor partition corresponds to at least one block group; each rotor partition includes a part on the liquid crystal half-wave plate corresponding to the position of the block group and a part on the liquid crystal polarization grating plate corresponding to the position of the block group;

[0071] Among them, the deflection angle of the corresponding rotor partition with respect to the light beam is adjusted by changing the voltage applied to the electrodes corresponding to the rotor partitions in the liquid crystal half-wave plate and the voltage applied to the electrodes corresponding to the rotor partitions in the liquid crystal polarization grating plate.

[0072] In some alternative embodiments, the liquid crystal polarization grating plates of all the light deflection units in the second light deflection device are all passive liquid crystal polarization grating plates, or the liquid crystal polarization grating plates of all the light deflection units in the second light deflection device are all active liquid crystal polarization grating plates, or the liquid crystal polarization grating plates of some of the light deflection units in the second light deflection device are passive liquid crystal polarization grating plates and the liquid crystal polarization grating plates of some of the light deflection units are active liquid crystal polarization grating plates; the liquid crystal material of the liquid crystal layer is nematic liquid crystal or blue phase liquid crystal.

[0073] In some alternative embodiments, the liquid crystal half-wave plate further includes a first substrate and a second substrate disposed opposite to each other, and the electrodes on both sides are respectively disposed on the inner surfaces of the first substrate and the second substrate facing each other, and the inner surfaces are flat surfaces;

[0074] The liquid crystal polarization grating plate further includes a third substrate and a fourth substrate disposed opposite to each other, and the electrodes on both sides are respectively disposed on the inner surfaces of the third substrate and the fourth substrate facing each other, and the inner surfaces are flat surfaces.

[0075] In some alternative embodiments, the second light deflection device further includes a quarter-wave plate disposed in front of the first liquid crystal half-wave plate for changing the polarization state of the incident light beam.

[0076] In some alternative embodiments, the adjustment time for the deflection partition to adjust the second deflection angle of the incident light beam is not greater than the time interval between two adjacent deflection periods of the deflection partition scanned by the incident light beam.

[0077] In some alternative embodiments, the number of the deflection partitions is determined according to the number of the second deflection angles deflected by the second light deflection device, the time required for the second light deflection device to deflect the light beams with a plurality of different first deflection angles to a plurality of different second deflection angles, and the adjustment time required for the second light deflection device to complete one deflection angle adjustment.

[0078] In some alternative embodiments, the number D of the deflection partitions takes an integer greater than or equal to 2 / (1 - FMT), where M is the number of deflection angles of the second light deflection device, F is the frame rate at which the second light deflector deflects through a round of M deflection angles, and T is the time required for the second light deflection device to complete one deflection angle adjustment.

[0079] In some alternative embodiments, the first light deflector is configured to deflect an incident light beam by a plurality of different first deflection angles along the first direction, and project the deflected light beam onto a beam expander, so that the light beam expanded by the beam expander is incident at different positions of the second light deflector;

[0080] The second light deflector is configured to deflect the incident light beams with a plurality of different first deflection angles by the same second deflection angle, thereby completing the scanning of a corresponding scanning partition in the field of view; deflecting the light beams with each first deflection angle among the incident light beams with a plurality of different first deflection angles by a plurality of different second deflection angles respectively, thereby completing the scanning of a plurality of scanning partitions corresponding to different second deflection angles;

[0081] The scanning partition is rectangular, and the length of the light beam after deflecting by the second deflection angle is equal to the length of one direction of the scanning partition.

[0082] In some alternative embodiments, the second light deflector is configured to:

[0083] Within one deflection period, deflect the incident light beams with a plurality of different first deflection angles by the same second deflection angle to complete the scanning of a corresponding scanning partition in the field of view; different deflection periods deflect the incident light beams with a plurality of different first deflection angles by different second deflection angles; or

[0084] Within one deflection period, deflect each of the incident light beams with a plurality of different first deflection angles by one of a plurality of different second deflection angles to respectively scan partial regions in the corresponding scanning partitions; wherein, within one deflection period, the second deflection angles by which the incident light beams with a plurality of different first deflection angles are deflected are the same or different; different deflection periods deflect the incident light beams with each first deflection angle by different second deflection angles.

[0085] In some alternative embodiments, the above light deflection device further includes a control device;

[0086] The control device is configured to control the first light deflector and the second light deflector to deflect the light beam.

[0087] In some alternative embodiments, the control device is specifically configured to execute the following control processes in parallel: controlling the currently scanned deflection partition in the second light deflector to deflect the incident light beam, and controlling at least one currently unscanned deflection partition to adjust its deflection angle for the light beam.

[0088] In some alternative embodiments, the control device includes a first control unit and a second control unit;

[0089] The first control unit is configured to control the first optical deflector to deflect multiple different first deflection angles in a time-sharing manner within a deflection period, and respectively direct the incident light beams at each first deflection angle to corresponding deflection partitions of the second optical deflector;

[0090] The second control unit is configured to control the multiple deflection partitions to receive the incident light beams in a time-sharing manner and deflect the incident light beams by a required second deflection angle, and control the deflection partitions to pre-adjust their deflection angles for the light beams before being scanned by the incident light beams; wherein, for at least one deflection partition, the deflection angle for the incident light beam is adjusted to the second deflection angle required for the next deflection period after the scanning of the incident light beam in the current deflection period ends and before the scanning of the incident light beam in the next deflection period starts.

[0091] In some alternative embodiments, when the first optical deflector is an acousto-optic deflector, the control device is configured to apply a driving signal to the acoustic wave generator of the first optical deflector, and control the acoustic wave frequency of the acoustic wave generator acting on the acousto-optic crystal of the first optical deflector through the driving signal, so as to change the deflection angle of the first optical deflector for the light beam.

[0092] In some alternative embodiments, the above optical deflection device further includes:

[0093] A temperature regulator configured to change the time for the second optical deflector to adjust the deflection angle by changing the temperature of the second optical deflector.

[0094] In some alternative embodiments, the above optical deflection device further includes: a collimating device disposed before the first optical deflector to collimate the light beam in a first direction and a second direction perpendicular to each other;

[0095] The first direction is the direction in which the first optical deflector deflects the incident light beam, and the collimated light beam has a higher collimation degree in the first direction than in the second direction.

[0096] In some alternative embodiments, the divergence angle of the collimated light beam in the first direction is less than 1 / 10 of the divergence angle in the second direction.

[0097] In some alternative embodiments, the collimating device includes at least one collimating lens, and the emission position of the incident light beam is disposed on the focal plane of the collimating lens; when the collimating device includes at least two collimating lenses, the focal planes of the at least two collimating lenses coincide.

[0098] In some alternative embodiments, the collimating device includes a first cylindrical lens and a second cylindrical lens, the first cylindrical lens is configured to collimate the light beam in the first direction, and the second cylindrical lens is configured to collimate the light beam in the second direction; or

[0099] Comprising a spherical lens configured to collimate a light beam in a first direction and a second direction; or

[0100] Comprising a cylindrical lens and a spherical lens, the cylindrical lens being configured to collimate a light beam in a first direction, and the spherical lens being configured to collimate a light beam in a first direction and a second direction.

[0101] In some alternative embodiments, when the incident light beam is emitted from the emission position, the following relationships are satisfied among the emission width V1 in the first direction, the divergence angle θ1 in the first direction, the waist diameter V2 in the first direction when the light beam is incident on the first light deflector, the divergence angle θ2 in the first direction when the light beam is incident on the first light deflector, and the focal length F2 of the collimating lens that collimates the light beam in the first direction: θ2 = V1 / F2, θ2V2 = θ1V1.

[0102] In some alternative embodiments, when the incident light beam is emitted from the emission position, the following relationships are satisfied among the emission length H1 in the second direction, the divergence angle Θ1 in the second direction, the waist diameter H2 in the second direction when the light beam is incident on the first light deflector, the divergence angle Θ2 in the second direction when the light beam is incident on the first light deflector, and the focal length F1 of the collimating lens that collimates the light beam in the second direction: Θ2 = H1 / F1, Θ2H2 = Θ1H1.

[0103] In some alternative embodiments, when the incident light beam is emitted from the emission position, it is a bar-shaped light beam with an aspect ratio of 20:1 to 100:1; the aspect ratio of the light beam incident on the first light deflector is 3:1 to 1:2; the scanning light beam is a bar-shaped light beam with an aspect ratio of 20:1 to 80:1.

[0104] In some alternative embodiments, when the incident light beam is emitted from the emission position, the aspect ratio is 50:1; the aspect ratio of the light beam incident on the first light deflector is 5:2; the aspect ratio of the scanning light beam is 75:1; or

[0105] When the incident light beam is emitted from the emission position, the aspect ratio is 50:1; the aspect ratio of the light beam incident on the first light deflector is 5:2; the aspect ratio of the scanning light beam is 25:1.

[0106] In some alternative embodiments, when the light beam emitted by the light source is linearly polarized light, a half-wave plate is further included and disposed between the collimating device and the first light deflector for changing the polarization direction of the light beam.

[0107] The optical axis of the half-wave plate is perpendicular to the direction of the light beam emitted from the collimating device, and the electric field direction of the linearly polarized light forms a 45-degree angle with the fast axis of the half-wave plate, or the electric field direction of the linearly polarized light forms a 45-degree angle with the slow axis of the half-wave plate.

[0108] In some alternative embodiments, the optical deflection device is used in the transmitting module of a lidar system; or the optical deflection device is the optical deflection device in the transmitting module of a lidar system.

[0109] An embodiment of the present utility model provides a transmitting module, including a light source and the above-mentioned optical deflection device;

[0110] The light source is configured to emit a light beam to the optical deflection device;

[0111] The optical deflection device is configured to deflect the light beam emitted by the light source to generate scanning light with different deflection angles and deflection angle switching sequences so as to achieve the scanning of the field of view range.

[0112] In some alternative embodiments, the length of the bar-shaped light beam emitted by the light source along the first direction is less than the length along the second direction, where the first direction is the deflection direction of the first optical deflection device for deflecting the incident light beam, and the second direction is perpendicular to the first direction; wherein,

[0113] The first optical deflection device is configured to sequentially deflect the incident light beam by a plurality of different first deflection angles in the first direction; the second optical deflection device is configured to deflect the expanded light beam by a plurality of different second deflection angles in a two-dimensional array manner in the first direction and the second direction; or,

[0114] The first optical deflection device is configured to sequentially deflect the incident light beam by a plurality of different first deflection angles in the first direction; the second optical deflection device is configured to deflect the expanded light beam by a plurality of different second deflection angles in the second direction.

[0115] In some alternative embodiments, the length of the bar-shaped light beam emitted by the light source along the second direction is less than the length along the first direction, where the second direction is the deflection direction of the first optical deflection device for deflecting the incident light beam, and the second direction is perpendicular to the first direction; wherein,

[0116] The first optical deflection device is configured to sequentially deflect the incident light beam by a plurality of different first deflection angles in the second direction; the second optical deflection device is configured to deflect the expanded light beam by a plurality of different second deflection angles in a two-dimensional array manner in the first direction and the second direction; or,

[0117] The first optical deflection device is configured to sequentially deflect the incident light beam by a plurality of different first deflection angles in the second direction; the second optical deflection device is configured to deflect the expanded light beam by a plurality of different second deflection angles in the first direction.

[0118] In some alternative embodiments, the light source emits a non-bar-shaped light beam with an aspect ratio within a set threshold range; wherein,

[0119] The first optical deflector is configured to deflect an incident light beam by a plurality of different first deflection angles in a two-dimensional array manner in a first direction and a second direction; the second optical deflector is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in the first direction or the second direction;

[0120] The first optical deflector is configured to deflect an incident light beam by a plurality of different first deflection angles in a two-dimensional array manner in a first direction and a second direction; the second optical deflector is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in a two-dimensional array manner in the first direction and the second direction;

[0121] The second direction is perpendicular to the first direction.

[0122] In some alternative embodiments, the light source includes any one or a combination of an edge-emitting laser (EEL), a vertical-cavity surface-emitting laser (VCSEL), a light-emitting diode (LED), a laser diode (LD), a semiconductor laser, and a fiber laser.

[0123] An embodiment of the present invention provides a lidar system, including a receiving module and the above-mentioned transmitting module;

[0124] The receiving module is configured to sense an optical signal from a field of view and obtain three-dimensional information of the field of view through processing and analysis of the sensed optical signal.

[0125] An embodiment of the present invention provides an electronic device, including the above-mentioned lidar system.

[0126] An embodiment of the present invention provides an optical scanning method, including:

[0127] The first optical deflector deflects an incident light beam by a plurality of first deflection angles and projects the deflected light beam onto a beam expander;

[0128] The beam expander magnifies the deflection angle of the deflected light beam in the corresponding deflection direction by a preset multiple and projects the beam-expanded light beam onto a corresponding position of the second optical deflector;

[0129] The second optical deflector deflects the beam-expanded light beam by a preset second deflection angle to project a scanning light beam.

[0130] In some alternative embodiments, the first optical deflector deflects an incident light beam by a plurality of first deflection angles, including:

[0131] The first optical deflector deflects an incident light beam by a plurality of different first deflection angles in at least one of the first direction and the second direction in sequence;

[0132] The second light deflector deflects the beam after beam expansion by a preset second deflection angle, including:

[0133] The second light deflector deflects the beam after beam expansion by a plurality of different second deflection angles in at least one of a first direction and a second direction; the first direction and the second direction are perpendicular.

[0134] In some alternative embodiments, the beam expander magnifies the deflection angle of the deflected beam in the corresponding deflection direction by a preset multiple, including:

[0135] At least one beam expander lens magnifies the deflection angle of the beam deflected by the first light deflector in at least one of a first direction and a second direction that are perpendicular to each other by a preset multiple.

[0136] In some alternative embodiments, at least one beam expander lens magnifies the deflection angle of the beam deflected by the first light deflector in at least one of a first direction and a second direction that are perpendicular to each other by a preset multiple, including:

[0137] The first cylindrical lens group magnifies the deflection angle of the beam deflected by the first light deflector in the first direction by a preset multiple, the first cylindrical lens group includes a first beam-expanding cylindrical lens and a second beam-expanding cylindrical lens, and the preset multiple is the ratio of the focal length of the first beam-expanding cylindrical lens to the focal length of the second beam-expanding cylindrical lens;

[0138] The second cylindrical lens group magnifies the deflection angle of the beam deflected by the first light deflector in the second direction by a preset multiple, the second cylindrical lens group includes a third beam-expanding cylindrical lens and a fourth beam-expanding cylindrical lens, and the preset multiple is the ratio of the focal length of the third beam-expanding cylindrical lens to the focal length of the fourth beam-expanding cylindrical lens;

[0139] Or

[0140] The first beam-expanding spherical lens and the second beam-expanding spherical lens magnify the deflection angles of the beam deflected by the first light deflector in the first direction and the second direction by a preset multiple, and the preset multiple is the ratio of the focal length of the first beam-expanding spherical lens to the focal length of the second beam-expanding spherical lens.

[0141] In some alternative embodiments, the above method further includes:

[0142] Magnifying the divergence angle of the beam deflected by the first light deflector in the corresponding deflection direction by a preset multiple, and the divergence angle magnification is the same as the deflection angle magnification of the deflected beam in this deflection direction.

[0143] In some alternative embodiments, within a deflection period, the deflection angles of the beams with a plurality of different first deflection angles change from large to small, or from small to large, or change according to a preset random rule in each deflection direction.

[0144] In some alternative embodiments, a plurality of second deflection angles for deflecting the light beam within one deflection period are all the same, or all different, or some are the same and some are different.

[0145] In some alternative embodiments, projecting the beam after beam expansion onto corresponding positions of the second light deflector includes: the beam after beam expansion is incident on corresponding deflection sub-regions of the second light deflector;

[0146] The second light deflector deflects the beam after beam expansion by a preset second deflection angle to project a scanning beam, including:

[0147] The control device controls a plurality of deflection sub-regions in the second light deflector to receive the beam after beam expansion corresponding to a plurality of different first deflection angles of the beam; the deflection angle of the beam by each deflection sub-region can be adjusted independently;

[0148] Controlling the currently scanned deflection sub-region to deflect the beam by the required second deflection angle; and

[0149] Controlling at least one currently unscanned deflection sub-region to adjust the deflection angle of the beam to the second deflection angle required for the next deflection period after the beam scanning of the current deflection period ends and before the beam scanning of the next deflection period starts.

[0150] In some alternative embodiments, controlling the first light deflector to deflect the incident beam by a plurality of first deflection angles includes: controlling the first light deflector to deflect the incident beam by a plurality of different first deflection angles in a time-sharing manner according to a preset order within one deflection period;

[0151] Controlling a plurality of deflection sub-regions in the second light deflector to receive the beam with a plurality of different first deflection angles includes: controlling the plurality of deflection sub-regions to receive the beam with a plurality of different first deflection angles in a time-sharing manner;

[0152] The deflection period is the time required for the first light deflector to deflect the incident beam by all of the plurality of different first deflection angles, or the deflection period is the time required for the first light deflector to deflect the incident beam by a specified part of the first deflection angles among the first deflection angles.

[0153] In some alternative embodiments, one deflection sub-region can sequentially receive one, two, or more incident beams with different first deflection angles within one deflection period.

[0154] In some alternative embodiments, the plurality of deflection sub-regions are configured such that a plurality of second deflection angles for deflecting the incident beam within one deflection period are all the same, or all different, or some are the same and some are different.

[0155] In some alternative embodiments, the number of incident light beams that each deflection partition can receive may be the same, different, or partially the same and partially different; correspondingly, the widths of the plurality of deflection partitions may be the same, different, or partially the same and partially different.

[0156] In some alternative embodiments, after controlling at least one currently unscanned deflection partition to complete the scanning of the incident light beam in the current deflection period and before the incident light beam starts to be scanned in the next deflection period, adjusting the deflection angle of the incident light beam to a second deflection angle required for the next deflection period includes:

[0157] After determining that a deflection partition has completed the deflection of the incident light beam in the current deflection period and is in a non-scanning state, controlling the deflection partition to adjust its deflection angle of the light beam, and before entering the scanning state in the next deflection period, adjusting its deflection angle of the light beam to the second deflection angle required for the next deflection period.

[0158] In some alternative embodiments, if a deflection partition is the deflection partition currently being scanned by the incident light beam, it is determined that the deflection partition is in the scanning state; otherwise, it is determined that the deflection partition is in the non-scanning state; or

[0159] If a deflection partition is the deflection partition currently being scanned or the next deflection partition to be scanned by the incident light beam, it is determined that it is in the scanning state; otherwise, it is determined that the deflection partition is in the non-scanning state.

[0160] In some alternative embodiments, the deflection partition currently being scanned by the incident light beam and the next deflection partition to be scanned are determined as the deflection partitions in the scanning state, and the remaining deflection partitions are determined as the deflection partitions in the non-scanning state; the deflection partition currently being scanned by the incident light beam and the next deflection partition to be scanned are adjacent deflection partitions in position.

[0161] In some alternative embodiments, the voltage applied to the electrodes of each deflection partition is controlled to adjust the refractive index of the medium in the deflection partition for the incident light beam, so as to adjust the deflection angle of the deflection partition for the incident light beam.

[0162] In some alternative embodiments, when the second light deflection device uses a liquid crystal polarization grating, the voltage applied to the electrodes of each deflection partition is controlled to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the deflection partition for the incident light beam.

[0163] In some alternative embodiments, the second light deflection device includes at least one light deflection unit, and the light deflection unit includes a plurality of deflection sub-regions. When the deflection sub-regions include the deflection sub-regions corresponding in position in at least one light deflection unit, the voltages on the electrodes at both ends of each deflection sub-region are respectively controlled, and the deflection angle of the incident light beam by at least one deflection sub-region is changed by changing the voltages on the electrodes at both ends of at least one deflection sub-region, so as to change the second deflection angle of the incident light beam by the corresponding deflection sub-region.

[0164] In some alternative embodiments, the second light deflection device includes at least two groups of light deflection units, and each group of light deflection units includes at least one of the light deflection units; controlling the second deflection angle required for deflecting the incident light beam by the currently scanned deflection sub-region includes:

[0165] The second deflection angle required for deflecting the incident light beam in the first direction by the currently scanned deflection sub-region of the light deflection unit in at least one group of light deflection units, and / or the second deflection angle required for deflecting the incident light beam in the second direction by the currently scanned deflection sub-region of the light deflection unit in at least one group of light deflection units, wherein the first direction and the second direction are perpendicular.

[0166] In some alternative embodiments, the adjustment time for the deflection sub-region to adjust the second deflection angle of the incident light beam is not greater than the time interval between two adjacent scans of the deflection sub-region by the incident light beam.

[0167] In some alternative embodiments, the number of the deflection sub-regions is determined according to the number of the second deflection angles deflected by the second light deflection device, the time required for the second light deflection device to deflect the light beams with a plurality of different first deflection angles by a plurality of different second deflection angles, and the adjustment time required for the second light deflection device to complete one deflection angle adjustment.

[0168] In some alternative embodiments, the number D of the deflection sub-regions is an integer greater than or equal to 2 / (1 - FMT), where M is the number of deflection angles of the second light deflection device, F is the frame rate at which the second light deflector deflects a round of M deflection angles, and T is the time required for the second light deflection device to complete one deflection angle adjustment.

[0169] In some alternative embodiments, the following control processes are executed in parallel: controlling the currently scanned deflection sub-region in the second light deflection device to deflect the light beam, and controlling at least one currently unscanned deflection sub-region to adjust its deflection angle for the light beam.

[0170] In some alternative embodiments, the field of view range of the light scan is divided into a plurality of scan sub-regions, the scan sub-regions are rectangular, and the incident light beam is a strip-shaped light beam;

[0171] Scanning the field of view range includes: deflecting incident light beams with multiple different first deflection angles by the same second deflection angle, so as to complete the scanning of a corresponding scanning partition in the field of view range; deflecting the light beams with each first deflection angle among the incident light beams with multiple different first deflection angles by multiple different second deflection angles respectively, so as to complete the scanning of multiple scanning partitions corresponding to different multiple second deflection angles;

[0172] The length of the light beam after deflecting the second deflection angle is equal to the length of one direction of the scanning partition.

[0173] In some optional embodiments, within one deflection period, deflecting incident light beams with multiple different first deflection angles by the same second deflection angle to complete the scanning of a corresponding scanning partition in the field of view range; each deflection period corresponds to a different second deflection angle; different deflection periods deflect the second deflection angles of the incident light beams with the multiple different first deflection angles differently; or

[0174] Within one deflection period, deflecting each of the incident light beams with multiple different first deflection angles by one of multiple different second deflection angles respectively to scan partial regions in the corresponding scanning partitions; wherein, within one deflection period, the second deflection angles by which the incident light beams with multiple different first deflection angles are deflected are the same or different; different deflection periods deflect the second deflection angles of the incident light beams with each first deflection angle differently.

[0175] In some optional embodiments, the above method further includes: changing the temperature of the second light deflection device to change the time for the second light deflection device to adjust the deflection angle.

[0176] In some optional embodiments, the deflection accuracy of the first light deflection device for the light beam is higher than the deflection accuracy of the second light deflection device for the light beam.

[0177] In some optional embodiments, among the multiple different first deflection angles for deflecting the incident light beam, the angular interval between two adjacent first deflection angles is less than or equal to the divergence angle of the light beam deflected by the first light deflection device along the deflection direction.

[0178] In some optional embodiments, the above method further includes:

[0179] Before the incident light beam is incident on the first light deflection device, the collimating device collimates the incident light beam in the first direction and the second direction respectively;

[0180] The first direction is the direction in which the first light deflection device deflects the incident light beam, and the collimation requirement in the first direction is higher than the collimation requirement in the second direction.

[0181] In some alternative embodiments, the divergence angle of the collimated beam after collimation in the first direction is less than 1 / 10 of the divergence angle of the collimated beam in the second direction.

[0182] In some alternative embodiments, the collimating device collimates the incident beam in the first direction and the second direction respectively, including:

[0183] One cylindrical lens collimates the incident beam in the first direction, and another cylindrical lens collimates the incident beam in the second direction; or

[0184] One spherical lens collimates the incident beam in both the first direction and the second direction simultaneously; or

[0185] One cylindrical lens collimates the beam in the first direction, and one spherical lens collimates the beam in both the first direction and the second direction simultaneously.

[0186] In some alternative embodiments, the following relationships are satisfied among the luminous width V1 in the first direction, the divergence angle θ1 in the first direction when the incident beam emits from the emission position, the waist diameter V2 in the first direction when the beam is incident on the first light deflector, the divergence angle θ2 in the first direction when the beam is incident on the first light deflector, and the focal length F2 of the collimating lens for collimating the beam in the first direction: θ2 = V1 / F2, θ2V2 = θ1V1.

[0187] In some alternative embodiments, the following relationships are satisfied among the luminous length H1 in the second direction, the divergence angle Θ1 of the light emission in the second direction, the waist diameter H2 in the second direction when the beam is incident on the first light deflector, the divergence angle Θ2 in the second direction when the beam is incident on the first light deflector, and the focal length F1 of the collimating lens for collimating the beam in the second direction: Θ2 = H1 / F1, Θ2H2 = Θ1H1.

[0188] In some alternative embodiments, the incident beam is a bar-shaped beam when it emits from the emission position, and its aspect ratio is 20:1 to 100:1; the aspect ratio of the beam incident on the first light deflector is 3:1 to 1:2; the scanning beam is a bar-shaped beam, and its aspect ratio is 20:1 to 80:1.

[0189] In some alternative embodiments, the aspect ratio of the incident beam when it emits from the emission position is 50:1; the aspect ratio of the beam incident on the first light deflector is 5:2; the aspect ratio of the scanning beam is 75:1; or

[0190] The aspect ratio of the incident beam when it emits from the emission position is 50:1; the aspect ratio of the beam incident on the first light deflector is 5:2; the aspect ratio of the scanning beam is 25:1.

[0191] The beneficial effects of the above technical solutions provided by the embodiments of the present utility model at least include:

[0192] In the light deflection device provided by the embodiments of the present utility model, a beam expansion device is arranged between the first light deflection device and the second light deflection device to amplify the deflection angle of the light beam deflected by the first light deflection device, so that adjacent light beams deflected by the first light deflection device can be distinguished within the shortest possible distance, thereby shortening the distance between the second light deflection device and the first light deflection device and making the overall structure of the light deflection device smaller; after the distance between the two-stage light deflection devices is reduced by the beam expansion device, after the light beam is deflected by the first light deflection device, the light spot irradiated on the second light deflection device will become smaller as the distance decreases, and the size of the second light deflection device can also be smaller, thereby further reducing the overall structure of the light deflection device, which can meet the requirements for miniaturization of vehicle-mounted lidar in application scenarios such as intelligent driving; in addition, through the cooperation of the two-stage light deflection devices and the beam expansion device, continuous and refined adjustment of the light beam deflection angle can be achieved within a larger angle range, and at the same time, the angle interval of the light beam deflected by the first light deflection device can be made smaller, realizing more refined light scanning and improving the coverage effect of lidar light scanning.

[0193] Other features and advantages of the present utility model will be described in the following description, and some of them will be obvious from the description, or understood by implementing the present utility model. The objectives and other advantages of the present utility model can be achieved and obtained through the structures specifically pointed out in the written description, claims, and drawings.

[0194] The technical solutions of the present utility model will be further described in detail below with reference to the drawings and embodiments. Description of the Drawings

[0195] The drawings are used to provide further understanding of the present utility model, and constitute a part of the description. They are used to explain the present utility model together with the embodiments of the present utility model, and do not constitute a limitation to the present utility model. In the drawings:

[0196] Figure 1 It is a schematic diagram of the composition structure of the light deflection device in the first embodiment of the present utility model;

[0197] Figure 2 It is a three-dimensional structure schematic diagram of the light deflection device in the first embodiment of the present utility model;

[0198] Figure 3 It is a three-dimensional structure schematic diagram of the light deflection device in the first embodiment of the present utility model;

[0199] Figure 4 It is a specific structure example diagram of the light deflection device in the first embodiment of the present utility model;

[0200] Figure 5a This is the schematic diagram of the optical path in the vertical direction in the first embodiment of the present utility model;

[0201] Figure 5b This is the schematic diagram of the optical path in the horizontal direction in the first embodiment of the present utility model;

[0202] Figure 6 This is the schematic diagram of the optical path when the beam expander and deflector device in the first embodiment of the present utility model includes two positive lenses;

[0203] Figure 7 This is the schematic diagram of the optical path when the beam expander and deflector device in the first embodiment of the present utility model includes one positive lens and one negative lens;

[0204] Figure 8 This is the schematic diagram of the structure of the first light source in the first embodiment of the present utility model;

[0205] Figure 9 This is the schematic diagram of the structure of the second light source in the first embodiment of the present utility model;

[0206] Figure 10 This is the schematic diagram of the structure of the third light source in the first embodiment of the present utility model;

[0207] Figure 11 This is the schematic diagram of the structure of the fourth light source in the first embodiment of the present utility model;

[0208] Figure 12 This is the schematic diagram of the structure of the fifth light source in the first embodiment of the present utility model;

[0209] Figure 13 This is the schematic diagram of the composition structure of the light deflection device in the second embodiment of the present utility model;

[0210] Figure 14a This is the schematic diagram of the structure of the second light deflection device with the electrode of one side of the liquid crystal half-wave plate divided into blocks in the second embodiment of the present utility model;

[0211] Figure 14b This is the schematic diagram of the structure of the second light deflection device with the electrodes of both sides of the liquid crystal half-wave plate divided into blocks in the second embodiment of the present utility model;

[0212] Figure 14c This is the schematic diagram of the structure of the second light deflection device with the electrodes of one side of the liquid crystal half-wave plate and the liquid crystal polarization grating plate divided into blocks in the second embodiment of the present utility model;

[0213] Figure 14d This is the schematic diagram of the structure of the second light deflection device with the electrodes of both sides of the liquid crystal half-wave plate and the liquid crystal polarization grating plate divided into blocks in the second embodiment of the present utility model;

[0214] Figure 15aSchematic diagram of the second light deflection device structure adopting a passive liquid crystal grating sheet in the second embodiment of the present utility model;

[0215] Figure 15b Example diagram of the relationship between the voltage application situation of the second light deflection device and the deflection angle of one-dimensional deflection in the second embodiment of the present utility model;

[0216] Figure 15c Example diagram of the relationship between the voltage application situation of the second light deflection device and the deflection angle of two-dimensional deflection in the second embodiment of the present utility model;

[0217] Figure 16 One of the example diagrams of the scanning path of the light deflection unit in the second embodiment of the present utility model;

[0218] Figure 17 Another example diagram of the scanning path of the light deflection unit in the second embodiment of the present utility model;

[0219] Figure 18 Yet another example diagram of the scanning path of the light deflection unit in the second embodiment of the present utility model;

[0220] Figure 19 Schematic diagram of the composition structure of the light deflection device in the third embodiment of the present utility model;

[0221] Figure 20 Example diagram of the beam deflection distribution in the third embodiment of the present utility model;

[0222] Figure 21 Schematic diagram of the composition structure of the light deflection device in the fourth embodiment of the present utility model;

[0223] Figure 22 Schematic diagram of the composition structure of the light deflection device in the fifth embodiment of the present utility model;

[0224] Figure 23 Schematic diagram of the composition structure of the light deflection device in the sixth embodiment of the present utility model;

[0225] Figure 24 Schematic diagram of the composition structure of the light deflection device in the seventh embodiment of the present utility model;

[0226] Figure 25 Schematic diagram of the composition structure of the light deflection device in the eighth embodiment of the present utility model;

[0227] Figure 26 Schematic diagram of the structure of the emission module in the embodiment of the present utility model;

[0228] Figure 27 Schematic diagram of the structure of the lidar system in the embodiment of the present utility model;

[0229] Figure 28This is a flowchart of the optical scanning method in the embodiments of the present utility model.

[0230] Description of reference numerals:

[0231] 1. Transmitting module; 2. Receiving module; 10. Optical deflection device;

[0232] 100. First optical deflection device; 200. Second optical deflection device; 300. Light source; 400. Collimating device; 500. Beam expanding device; 600. Control device; 110. First control unit; 128. Lens group; 1281. First beam expanding lens; 1282. Second beam expanding lens;

[0233] 210. Optical deflection unit; 220. Optical deflection unit group; 230. Second control unit; 240. Temperature regulator;

[0234] 211. First electrode block; 2110. First electrode pair; 212. Deflection partition; 2121. Deflection sub - partition; 213. First integral electrode; 214. Liquid crystal half - wave plate; 215. Half - wave plate liquid crystal layer; 216. Liquid crystal polarization grating plate; 217. First substrate; 218. Second substrate; 2160. Second electrode pair; 2161. Third substrate; 2162. Fourth substrate; 2163. Second electrode block; 2164. Grating liquid crystal layer; 2165. Second integral electrode; 310. Light - emitting unit. Detailed implementation manners

[0235] Hereinafter, the exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art.

[0236] To solve the problems existing in the prior art, the embodiments of the present utility model provide an optical deflection device and a corresponding transmitting module.

[0237] Embodiment 1

[0238] Embodiment 1 of the present utility model provides an optical deflection device 10, and its structure is shown in Figure 1 、 Figure 2 and Figure 3 An optional structure of the optical deflection device includes a first optical deflection device 100 and a second optical deflection device 200, and a beam expanding device 500 disposed on the light incident side of the second optical deflection device 200;

[0239] The first light deflection device 100 is configured to deflect an incident light beam by a plurality of first deflection angles and project the deflected light beam onto the beam expanding device 500;

[0240] The beam expanding device 500 is configured to magnify the deflection angle of the deflected light beam by a preset multiple in the corresponding deflection direction and project the beam-expanded light beam onto a corresponding position of the second light deflection device 200;

[0241] The second light deflection device 200 is configured to deflect the beam-expanded light beam by a preset second deflection angle to project a scanning light beam.

[0242] Wherein, the preset multiple U by which the beam expanding device 500 magnifies the light beam deflection angle can be set as required. Optionally, 1 < U < 10. For example, it can be but is not limited to 2 times, 4 times, 5 times, etc.

[0243] Embodiment 1 of the present utility model provides a light deflection device 10, the structure of which is as shown in Figure 1 , Figure 2 and Figure 3 . Another optional structure of this light deflection device includes a control device 600, a first light deflection device 100, and a second light deflection device 200, and a beam expanding device 500 disposed on the light incident side of the second light deflection device 200;

[0244] The first light deflection device 100 is configured to deflect an incident light beam by a plurality of first deflection angles and project the deflected light beam onto the beam expanding device 500;

[0245] The beam expanding device 500 is configured to magnify the deflection angle of the deflected light beam by a preset multiple in the corresponding deflection direction and project the beam-expanded light beam onto a corresponding position of the second light deflection device 200;

[0246] The second light deflection device 200 is configured to deflect the beam-expanded light beam by a preset second deflection angle to project a scanning light beam;

[0247] The control device 600 is used to control the first light deflection device 100 and the second light deflection device 200 to deflect the light beam. It can control the first light deflection device 100 to deflect the incident light beam and control the second light deflection device 200 to deflect the beam-expanded light beam.

[0248] For the light deflection device provided in Embodiment 1 of the present utility model, referring to the optional specific structure shown in Figure 5, on the basis of the above optional structure, it further includes: a collimating device 400 configured to collimate the light beam before the light beam enters the first light deflection device 100; wherein, the collimation degree of the collimated light beam along the first direction is higher than that along the second direction.

[0249] In the present utility model, in order to miniaturize the optical deflection device, a beam expansion device 500 is added between the first optical deflection device 100 and the second optical deflection device 200. The first optical deflection device 100 is configured to deflect a light beam by a plurality of first deflection angles and project the deflected light beam onto the beam expansion device 500; the beam expansion device 500 can magnify the deflection angle of the light beam in the corresponding deflection direction by a preset multiple and project the expanded light beam onto a corresponding position of the second optical deflection device 200; the second optical deflection device 200 is configured to deflect the light beam by a preset second deflection angle to project a scanning light beam. Corresponding to the first optical deflection device 100 and the second optical deflection device 200 deflecting the light beam in at least one of the first direction and the second direction, the beam expansion device 500 magnifies the deflection angle of the light beam in at least one of the first direction and the second direction by a preset multiple. By means of the beam expansion device 500, the light beams with adjacent deflection angles deflected by the first optical deflection device can be distinguished from each other within as short a distance as possible, thereby shortening the distance between the second optical deflection device and the first optical deflection device and making the overall structure of the optical deflection device smaller. After the distance between the two-stage optical deflection devices is reduced, after the light beam is deflected by the first optical deflection device 100, the light spot irradiated on the second optical deflection device 200 will become smaller as the distance decreases, and the size of the second optical deflection device 200 can also be smaller, so that the overall structure of the optical deflection device is further reduced, meeting the requirements for miniaturization of vehicle-mounted lidar in application scenarios such as intelligent driving.

[0250] For the above-mentioned optical deflection device, a beam expansion device 500 is added between the first optical deflection device 100 and the second optical deflection device 200. By means of the beam expansion device 500, the deflection angle range of the first optical deflection device 100 is expanded, so that the area of the rectangular region scanned by the second optical deflection device 200 for each deflection angle is relatively large. Thus, the second optical deflection device 200 can cover the overall field of view angle range of the lidar with fewer deflections, reducing the number of optical deflection units required for the second optical deflection device 200, simplifying the structure of the second optical deflection device 200, and reducing the device cost.

[0251] The various optional structures of the above-mentioned optical deflection device and the various devices involved therein will be described in detail below with reference to the accompanying drawings.

[0252] See Figures 4 - 8 As shown, the above-mentioned beam expansion device 500 includes at least one beam expansion lens, and the beam expansion lens is a single lens or a combination of two or more lenses; the beam expansion lens includes at least one or any combination of a cylindrical lens, a spherical lens, a meta-lens, and a Fresnel lens. When the beam expansion lens includes a combination of two or more lenses, the combination of the two or more lenses included can be regarded as one lens.

[0253] The above at least one beam expanding lens is configured to magnify the deflection angle of the beam deflected by the first light deflector 100 by a preset multiple in at least one of a first direction and a second direction perpendicular to each other. The beam expanding device 500 can also magnify the divergence angle of the beam deflected by the first light deflector 100 by a preset multiple in the corresponding deflection direction, and the divergence angle magnification is the same as the deflection angle magnification of the deflected beam in this deflection direction. Among them, the focal length of the beam expanding lens is set according to the magnification of the deflection angle. When the beam expanding device 500 includes two beam expanding lenses, one side focus of one beam expanding lens coincides with one side focus of the other beam expanding lens, and the magnification is the ratio of the focal lengths of the two beam expanding lenses.

[0254] The positional relationship among the first light deflector 100, the second light deflector 200, and the beam expanding device 500 can be designed according to the parameters of each device. Optionally, the distance between the first light deflector 100 and the first beam expanding lens of the beam expanding device 500 is the focal length of the first beam expanding lens; the distance between two adjacent beam expanding lenses is the sum of the focal lengths of the two adjacent lenses, so that the beam deflected by the first light deflector 100 can converge at its rear focus after passing through the beam expanding lens and then further diverge, enabling the deflection angle of the beam to be expanded to the required angle within a shorter distance, so that the second light deflector 200 can be arranged closer to the first light deflector 100.

[0255] In some embodiments, the beam expanding device includes two beam expanding lenses, both of the two beam expanding lenses are single lenses, both of the two beam expanding lenses are combinations of two or more lenses, or one of the two beam expanding lenses is a single lens and the other is a combination of two or more lenses.

[0256] Optionally, an alternative setting where both of the beam expanding lenses included in the beam expanding device 500 are combinations of two or more lenses is as follows: the beam expanding device 500 includes at least one of a first cylindrical lens group and a second cylindrical lens group; the first cylindrical lens group includes a first beam expanding cylindrical lens and a second beam expanding cylindrical lens, and is configured to magnify the deflection angle of the beam deflected by the first beam deflection device in a first direction by a preset multiple, where the preset multiple is the ratio of the focal length of the first beam expanding cylindrical lens to the focal length of the second beam expanding cylindrical lens; the second cylindrical lens group includes a third beam expanding cylindrical lens and a fourth beam expanding cylindrical lens, and is configured to magnify the deflection angle of the beam deflected by the first beam deflection device in a second direction by a preset multiple, where the preset multiple is the ratio of the focal length of the third beam expanding cylindrical lens to the focal length of the fourth beam expanding cylindrical lens. In specific applications, the cylindrical lens group can be set as needed. For example, the first cylindrical lens group can be set alone to expand the beam in the first direction; the second cylindrical lens group can be set alone to expand the beam in the second direction; or both the first cylindrical lens group and the second cylindrical lens group can be set simultaneously to expand the beam in both the first direction and the second direction.

[0257] Optionally, an alternative setting where both of the beam expanding lenses included in the beam expanding device 500 are single lenses is as follows: the beam expanding device 500 includes a first beam expanding spherical lens and a second beam expanding spherical lens, and is configured to magnify the deflection angles of the beam deflected by the first beam deflection device in a first direction and a second direction by a preset multiple, where the preset multiple is the ratio of the focal length of the first beam expanding spherical lens to the focal length of the second beam expanding spherical lens. Using spherical lenses as the beam expanding lenses can reduce the number of lenses used.

[0258] In some embodiments, referring to Figure 6 and Figure 7 as shown, the beam expanding device 500 includes, for example, a first beam expanding lens 1281 and a second beam expanding lens 1282. The first beam expanding lens 1281 and the second beam expanding lens 1282 are arranged in sequence along the propagation direction of the beam, and the foci on one side of the first beam expanding lens 1281 and the foci on one side of the second beam expanding lens 1282 coincide with each other within the section between the first beam expanding lens 1281 and the second beam expanding lens 1282. That is, the beam deflected by the first beam deflection device or the second beam deflection device is first converged by the first beam expanding lens 1281 on the focal plane of the second beam expanding lens 1282, and then deflected by the second beam expanding lens 1282 to achieve magnification of the deflection angle.

[0259] For example, in Figure 6In the illustrated embodiment, both the first beam expanding lens 1281 and the second beam expanding lens 1282 have positive optical power. If the focal length of the first beam expanding lens 1281 is F1 and the focal length of the second beam expanding lens is F2, then the magnification M of the deflection angle of the beam by the beam expanding device 500 is M = F1 / F2. That is, the angle by which the beam is deflected by the first optical deflection device or the second optical deflection device and deviates from the central direction of the field of view range before entering the beam expanding device 500 will be magnified by M times after passing through the beam expanding device 500.

[0260] For example, in the embodiment as Figure 7 illustrated, the first beam expanding lens 1281 has positive optical power and the second beam expanding lens 1282 has negative optical power. If the focal length of the first beam expanding lens 1281 is F1 and the focal length of the second beam expanding lens is F2, then the magnification M of the deflection angle of the beam by the beam expanding device 500 is M = F1 / F2. That is, the angle by which the beam is deflected by the first optical deflection device or the second optical deflection device and deviates from the central direction of the field of view range before entering the beam expanding device 500 will be magnified by M times after passing through the beam expanding device 500.

[0261] It should be understood that the first beam expanding lens 1281 can be a single lens or a lens group including multiple lenses. Similarly, the second beam expanding lens 1282 can be a single lens or a lens group including multiple lenses.

[0262] It should be understood that the first beam expanding lens 1281 and the second beam expanding lens 1282 can both be spherical mirrors that are rotationally symmetric about the optical axis, and they are configured to magnify the deflection angle of the passing beam by the same multiple in all directions. For example, the first beam expanding lens 1281 and the second beam expanding lens 1282 magnify the deflection angle of the passing beam by M times along both the first direction and the second direction, and the first direction is perpendicular to the second direction.

[0263] The above-mentioned optical deflection device 10 can generate a beam through a light source, and can control the light source to emit light according to a preset time sequence through a light source control unit (not shown in the figure). The length of the generated beam along the first direction is less than its length along the second direction. Thus, the first direction can be used as the width direction of the beam, and the second direction can be used as the length direction of the beam. The first direction is the deflection direction of the first optical deflection device 100 for deflecting the incident beam. In some embodiments, the first direction can be set perpendicular to the second direction. For example, the first direction can be the vertical direction and the second direction can be the horizontal direction; alternatively, the first direction can be the horizontal direction and the second direction can be the vertical direction. In some embodiments, the light source can include multiple light emitting units, and the multiple light emitting units are spliced to emit a beam of the required shape.

[0264] The light-emitting unit is, for example but not limited to, at least one of light-emitting structures in the form of a vertical cavity surface emitting laser (VCSEL, also translatable as vertical resonant cavity surface emitting laser), an edge emitting laser (EEL), a light emitting diode (LED), a laser diode (LD), a semiconductor laser, a fiber laser, etc. Among them, the edge emitting laser may be a Fabry Perot (FP) laser, a distributed feedback (DFB) laser, an electro-absorption modulated laser (EML), etc., and the embodiments of the present application do not limit this.

[0265] In some embodiments, the first light deflection device 100 can optionally deflect the light beam periodically or aperiodically, or can deflect more than one light beam in a time-division manner in a certain order or simultaneously. Taking periodic time-division deflection as an example, the first light deflection device 100 is configured to deflect an incident light beam by multiple different first deflection angles in a time-division manner according to a preset order within a deflection period; the first light deflection device 100 deflects an incident light beam by multiple different first deflection angles within a deflection period, and projects the deflected light beam onto a beam expanding device so that the light beam expanded by the beam expanding device is incident on different positions of the second light deflection device; the deflection period is the time required for the first light deflection device 100 to deflect an incident light beam by all the multiple different first deflection angles, or the deflection period is the time required for the first light deflection device 100 to deflect a specified part of the first deflection angles of the incident light beam by the first deflection angle.

[0266] Using the first light deflector 100 as a fine deflector and the second light deflector 200 as a coarse deflector to deflect the light beam. That is, the first light deflector 100 deflects the light beam at relatively fine angular intervals within a relatively small deflection angle range in sequence, and the first light deflector 100 deflects the light beam by a relatively small angle in sequence; the second light deflector 200 deflects the light beam deflected by the first light deflector 100 at relatively coarse angular intervals within a relatively large deflection angle range in a time-division manner, that is, the second light deflector 200 deflects the light beam deflected by the first light deflector 100 by a relatively large angle in a time-division manner. Finally, fine scanning of a relatively wide field of view range can be achieved. By combining the fine deflector and the coarse deflector, and taking advantage of the fast response speed and high resolvable dot number of the fine deflector, fine scanning within a small angle range can be realized. By taking advantage of the high diffraction efficiency and large deflection angle of the coarse deflector, the scanning range can be extended to cover a wide field of view angle even when the number of deflection angles of the coarse deflector is small. In some embodiments, the second light deflector 200 is configured to further deflect the light beam deflected by the first light deflector 100 to form a light beam for scanning the field of view range. In this case, the first light deflector 100 can finely deflect the light beam by a plurality of first deflection angles near a second deflection angle of the coarse deflection of the second light deflector 200, and finally, quasi-continuous fine scanning can be achieved within the relatively large deflection angle range of the second light deflector 200 with the deflection accuracy of the first light deflector 100. The second light deflector 200 can deflect the expanded light beam by a plurality of different second deflection angles in at least one of the first direction and the second direction. That is, the first light deflector 100 can deflect the light beam in one dimension or two dimensions, and the second light deflector 200 can also deflect the light beam in one dimension or two dimensions, which can reduce the number of deflection angles of the second light deflector 200 and make the second light deflector 200 thinner. It can be understood that in some other embodiments, according to the requirements of actual applications, the first light deflector 100 can also be configured to further deflect the light beam deflected by the second light deflector 200, and the present application does not limit this. The deflection dimensions of the first light deflector 100 and the second light deflector 200 are, for example but not limited to, one of the following methods:

[0267] Method 1: The first light deflector 100 is configured to deflect the incident light beam by a plurality of different first deflection angles in sequence in the first direction or the second direction; the second light deflector 200 is configured to deflect the expanded light beam by a plurality of different second deflection angles in a two-dimensional array manner in the first direction and the second direction;

[0268] Method 2: The first optical deflector 100 is configured to sequentially deflect an incident light beam by a plurality of different first deflection angles in a two-dimensional array manner in a first direction and a second direction; the second optical deflector 200 is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in a two-dimensional array manner in the first direction and the second direction;

[0269] Method 3: The first optical deflector 100 is configured to sequentially deflect an incident light beam by a plurality of different first deflection angles in a two-dimensional array manner in a first direction and a second direction; the second optical deflector 200 is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in either the first direction or the second direction;

[0270] Method 4: The first optical deflector 100 is configured to sequentially deflect an incident light beam by a plurality of different first deflection angles in a first direction; the second optical deflector 200 is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in a second direction;

[0271] Method 5: The first optical deflector 100 is configured to sequentially deflect an incident light beam by a plurality of different first deflection angles in a second direction; the second optical deflector 200 is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in a first direction.

[0272] The first light deflector 100 is configured to sequentially deflect an incident light beam by a plurality of different first deflection angles in at least one of a first direction and a second direction; the first light deflector 100 can deflect the incident light beam by a plurality of preset first deflection angles at preset deflection time intervals within each preset deflection period, and project the deflected light beam onto the beam expander 500; the first light deflector 100 can deflect the light beam by a plurality of first deflection angles within a preset angle range along the first direction. For example, within the range of -1.5 to +1.5 degrees, the light beam is deflected by a plurality of first deflection angles with a certain interval. The first deflection angle is an angle sequence, such as: -1.5, -1.0, -0.5, 0, 0.5, 1, 1.5, etc. The angle interval can be set as needed. In some embodiments, the first light deflector 100 can repeatedly deflect the light beam by all or a part of the plurality of first deflection angles according to a plurality of preset deflection periods. The deflection period refers to the time required for the first light deflector 100 to deflect the light beam by a plurality of first deflection angles within a preset angle range. It can also be said that the deflection period refers to the time required for the first light deflector 100 to sequentially deflect the light beam by all or a part of the preset plurality of first deflection angles. It should be understood that the durations of any two different deflection periods can be set to be the same or different; within any two different deflection periods, the number and order of the first deflection angles by which the first light deflector 100 deflects the light beam can be set to be the same or different. Within one of the deflection periods, the first light deflector 100 can also repeatedly deflect the light beam by one or more of the first deflection angles two or more times. After completing the deflection of one deflection period, the first light deflector 100 can enter the next deflection period and continue to deflect the light beam in a new round according to the corresponding number and order of the first deflection angles set.

[0273] Among the plurality of different first deflection angles by which the first light deflector 100 is configured to deflect the incident light beam, the angle interval between two adjacent first deflection angles is less than or equal to the divergence angle of the light beam deflected by the first light deflector along the deflection direction, so that a small part of the edges of two adjacent light beams deflected by the first light deflector overlap, thereby ensuring that the scanning area is fully covered without missing any scanning.

[0274] The length of the light beam incident on the first light deflector 100 in the first direction is less than the length in the second direction; the first direction is the deflection direction in which the first light deflector 100 deflects the incident light beam.

[0275] In the above light deflection device, the deflection accuracy of the first light deflector 100 for the light beam is higher than the deflection accuracy of the second light deflector 200 for the light beam.

[0276] Optionally, the second light deflector 200 includes at least one light deflection unit configured to deflect the beam after beam expansion in a first direction or a second direction; or the second light deflector 200 includes at least two groups of light deflection units, each group of light deflection units including at least one light deflection unit, wherein at least one group of light deflection units is configured to deflect the beam after beam expansion in a first direction, and at least one group of light deflection units is configured to deflect the beam after beam expansion in a second direction.

[0277] The second light deflector 200 may adopt a partitioned structure or a non-partitioned structure.

[0278] With the cooperation of the two-stage light deflector and the beam expander, the above light deflection device can achieve continuous and refined adjustment of the beam deflection angle within a larger angular range. At the same time, the angular interval of the beam deflected by the first light deflector can be made smaller, enabling more refined light scanning and improving the coverage effect of lidar light scanning. The deflection angle range of the beam by the first light deflector 100 is relatively small. The beam expander is arranged between the first light deflector 100 and the second light deflector 200, and the deflection angle range of the beam entering the beam expander is also relatively small, concentrated near the optical axis. In this case, the beam expander can better achieve the preset deflection multiple. Compared with being arranged behind the second light deflector 200, the efficiency of deflecting the beam is higher and the overall device structure is simpler. This is because if the beam expander is arranged behind the second light deflector 200, the deflection angle range of the beam emitted by the second light deflector 200 is larger, and the incident angle range of the beam entering the beam expander is also large. At this time, the efficiency of the marginal beam with a large deflection angle will decrease. To ensure that such a marginal beam can pass through the secondary lens in the beam expander, more intermediate lenses need to be arranged to adjust the beam, and the entire beam expansion optical system will become more complex.

[0279] In some alternative embodiments, a specific structural example of the above light deflection device is shown in Figure 4 shown, including a collimating device 400, a first light deflector 100, a beam expander 500, and a second light deflector 200. This light deflection device is the same as Figure 1The difference of the device shown is that a collimating device 400 is arranged between the light source 300 and the first light deflection device 100, and is configured to collimate the light beam before the light beam enters the first light deflection device 100; the light beam emitted by the light source 300 can be collimated in a first direction and a second direction perpendicular to each other; wherein, the collimation requirement in the first direction is higher than that in the second direction, that is, the collimation of the collimated light beam in the first direction is higher than that in the second direction, that is, the divergence angle of the collimated light beam in the first direction is smaller than that in the second direction, and the collimated light beam is then incident on the first light deflection device 100. Figure 4 For the light deflection device shown, the collimating device takes two cylindrical lenses as an example, the beam expanding device takes two spherical lenses as an example, and the second light deflection device 200 takes a partitioned structure as an example for illustration. Figure 4 For the optical path in the vertical direction (the first direction) of the light deflection device shown, see Figure 5a as shown, and for the optical path in the horizontal direction (the second direction), see Figure 5b as shown. After adding the collimating device, the incident light beam of the collimating device 400 is the light beam emitted by the light source 300, the incident light beam of the first light deflection device 100 is the light beam collimated by the collimating device 400, the incident light beam of the beam expanding device 500 is the light beam deflected by the first light deflection device 100, and the incident light beam of the second light deflection device 200 is the light beam expanded by the beam expanding device 500.

[0280] In some alternative embodiments, when the collimating device 400 collimates the light beam, its collimation can be measured by the size of the divergence angle. Based on the general law of light propagation, in a certain direction, the higher the collimation and the smaller the divergence angle of the light beam, the larger the size of the light beam in that direction. Conversely, in a certain direction, the lower the collimation and the larger the divergence angle of the light beam, the smaller the size of the light beam in that direction. The first light deflection device 100, taking an AOD device as an example, the aspect ratio of the light passing aperture is usually smaller than that of the bar-shaped light beam emitted after the light sources are spliced. In order to fully deflect the light beam, a higher collimation requirement and a smaller divergence angle of the light beam are required in the deflection direction, while the collimation requirement in the non-deflection direction is lower and the divergence angle of the light beam is larger. Therefore, a suitable collimating device can be designed to strictly collimate only in the deflection direction of the light beam by the first light deflection device 100, and no strict collimation is required in other directions, so that the collimated light beam can meet the deflection requirements of the AOD device in the deflection direction, improve the deflection efficiency of the light beam by the AOD device, and also allow the collimated light beam to naturally spread with a larger divergence angle in the non-deflection direction, facilitating the subsequent formation of a bar-shaped light beam.

[0281] Optionally, the divergence angle of the collimated light beam in the first direction after collimation is less than 1 / 10 of the divergence angle of the collimated light beam in the second direction, so that the size of the light beam incident on the first light deflection device 100 can better suit the size of its light passing aperture.

[0282] The collimating device 400 includes at least one collimating lens. For example, it may include two cylindrical lenses, or include a spherical lens, or include a cylindrical lens and a spherical lens to collimate the bar-shaped light beam emitted by the light source in the first direction and the second direction perpendicular to each other. Optionally, in order to collimate the light beam according to the collimation requirements, the positional relationship between the collimating device 400 and the light source 300 can be set according to the light beam collimation requirements. One optional setting method is: the light source 300 is arranged on the focal plane of the collimating lens; when the collimating device 400 includes at least two collimating lenses, the focal planes of the at least two collimating lenses coincide.

[0283] Optionally, the collimating device 400 includes a first cylindrical lens and a second cylindrical lens. The first cylindrical lens is configured to collimate the light beam in the first direction, and the second cylindrical lens is configured to collimate the light beam in the second direction. In this case, the first cylindrical lens and the second cylindrical lens can select lenses with different focal lengths to obtain outgoing light beams with different collimation degrees in different directions. Among them, the cylindrical lens with a smaller focal length is arranged closer to the light source, and the cylindrical lens with a larger focal length is arranged relatively farther from the light source. The focal planes of the two cylindrical lenses can coincide, and the light source is arranged at the focal plane.

[0284] Optionally, the collimating device 400 includes a spherical lens, and the spherical lens is configured to collimate the light beam in the first direction and the second direction. In this case, the light beam is collimated by the spherical lens in two directions, and the focal length of the spherical lens is selected according to the collimation requirements in the two directions to meet the collimation requirements in the two directions. Optionally, at least in the direction with high collimation requirements, the collimation degree of the collimated light beam can reach the required collimation degree.

[0285] Optionally, the collimating device 400 includes a cylindrical lens and a spherical lens. The cylindrical lens is configured to collimate the light beam in the first direction, and the spherical lens is configured to collimate the light beam in the first direction and the second direction simultaneously. In this case, collimation is performed simultaneously by the cylindrical lens and the spherical lens in the direction with high collimation requirements, and collimation is performed by the spherical lens in the direction with low collimation requirements to obtain outgoing light beams with different collimation degrees in different directions. Optionally, the focal planes of the cylindrical lens and the spherical lens can coincide, and the light source is arranged at the focal plane.

[0286] In some embodiments, the collimating device 400 is configured to collimate a light beam with an aspect ratio of A into a light beam with an aspect ratio of B, where A > B; the first light deflection device 100 and the second light deflection device 200 are configured to deflect the light beam with an aspect ratio of B and then project a light beam with an aspect ratio of C, where C > B. That is to say, if the aspect ratio of the light beam incident on the collimating device 400 is A, after being collimated by the collimating device 400, the aspect ratio of the light beam exiting the collimating device or incident on the first light deflection device will become smaller, becoming B. After being deflected by the first light deflection device at the first stage and the second light deflection device at the second stage, the aspect ratio of the scanned light beam projected to a distance will become larger again, becoming C, so as to form a long strip-shaped light beam.

[0287] The focal length of the collimating lens in the collimating device 400 can be selected as needed. For example, it can be selected according to the divergence angle and size of the collimated light beam and the divergence angle and size of the light beam before collimation. Refer to Figure 5a the vertical optical path shown in Figure 5b and the horizontal optical path shown in, taking two cylindrical lenses as an example. When the collimating device 400 uses a spherical lens, the number of lenses used can be reduced.

[0288] In the vertical direction: The luminous width V1 of the incident light beam in the first direction when it emits from the emitting position, that is, the luminous width V1 of the light source in the vertical direction (the first direction) and the divergence angle θ1 of the light source when emitting light in the vertical direction (the first direction), are collimated by a cylindrical lens with a focal length of F2. When the light beam is incident on the first light deflection device 100, the following relationships are satisfied among the waist diameter V2 of the light beam in the first direction, the divergence angle θ2 of the light beam in the first direction when incident on the first light deflection device 100, and the focal length F2 of the collimating lens collimating the light beam in the first direction: θ2 = V1 / F2, θ2V2 = θ1V1. The distance between the optical center of the cylindrical lens with a focal length of F2 and the light source can be selected as the focal length F2.

[0289] In the horizontal direction: The luminous length H1 of the incident light beam in the second direction when it emits from the emitting position, that is, the luminous length H1 of the light source in the horizontal direction (the second direction) and the divergence angle Θ1 of the light source when emitting light in the horizontal direction (the second direction), are collimated by a cylindrical lens with a focal length of F1. When the light beam is incident on the first light deflection device 100, the following relationships are satisfied among the waist diameter H2 of the light beam in the second direction, the divergence angle Θ2 of the light beam in the second direction when incident on the first light deflection device 100, and the focal length F1 of the collimating lens collimating the light beam in the second direction: Θ2 = H1 / F1, Θ2H2 = Θ1H1. The distance between the optical center of the cylindrical lens with a focal length of F1 and the light source can be selected as the focal length F1.

[0290] In some embodiments, when generally selecting a bar-shaped light source, H1 >> V1 can be selected. Correspondingly, since Θ1 ~ θ1, appropriate lens focal lengths F1 and F2 can be selected to make Θ2 >> θ2, so that after the light spot passes through the subsequent spherical lens, it will appear as a long strip in the far field.

[0291] For the above light deflection device, the light source can emit a light beam with a certain aspect ratio, and the aspect ratio of the light beam when it is incident on the first light deflection device 100 can also be within a certain range to adapt to the light passing aperture size of the first light deflection device. After being deflected by the first light deflection device 100 and the second light deflection device 200, a scanning light beam with a certain aspect ratio is formed.

[0292] In some embodiments, the light beam emitted by the light source 300 is a bar-shaped light beam, that is, the incident light beam is a bar-shaped light beam when it is emitted from the emission position, and its aspect ratio is 20:1 to 100:1; the aspect ratio of the light beam incident on the first light deflection device 100 is 3:1 to 1:2; the scanning light beam is a bar-shaped light beam, and its aspect ratio is 20:1 to 80:1. By using light beams with an aspect ratio within a certain range, the two light deflection devices are deflected, and optionally combined with collimation and / or beam expansion, to form a bar-shaped scanning light beam with a certain aspect ratio, so that the scanning light beam can cover the length of one direction of a scanning partition within the field of view, thereby realizing sub-region scanning of the field of view.

[0293] Optionally, the aspect ratio of the light beam emitted by the light source 300 is 50:1; the aspect ratio of the light beam incident on the first light deflection device 100 is 5:2; the aspect ratio of the scanning light beam is 75:1; or optionally, the aspect ratio of the light beam emitted by the light source 300 is 50:1; the aspect ratio of the light beam incident on the first light deflection device 100 is 5:2; the aspect ratio of the scanning light beam is 25:1.

[0294] In some embodiments, for the above light deflection device, when the light beam emitted by the light source is linearly polarized light, a 1 / 2 wave plate is further included, which is arranged between the collimating device 400 and the first light deflection device 100 and is used to change the polarization direction of the light beam. Among them, the optical axis of the 1 / 2 wave plate is perpendicular to the direction of the light beam emitted by the collimating device 400, and the electric field direction of the linearly polarized light forms an angle of 45 degrees with the fast axis of the 1 / 2 wave plate, or the electric field direction of the linearly polarized light forms an angle of 45 degrees with the slow axis of the 1 / 2 wave plate.

[0295] In the solution where the first optical deflection device 100 and the second optical deflection device 200 are combined to deflect a light beam, in some cases, it is necessary to rotate the polarization direction of the light beam. At this time, it can be achieved by setting a half-wave plate between the collimating device 400 and the first optical deflection device 100. Taking the use of an EEL light source as an example, the light beam emitted by the EEL is generally approximately TE-mode linearly polarized light, and the electric field direction is parallel to the slow axis direction, which is the horizontal direction in this application. On the other hand, when designing the first optical deflection device 100, it is generally required that the polarization direction of the incident light is parallel to the ultrasonic wave direction, which is the vertical direction in this application. In this case, it is necessary to rotate the polarization direction by 90 degrees before the light beam is incident in this application. The polarization direction rotation can be achieved by setting a half-wave plate for rotating the polarization direction. The optical axis of the half-wave plate is perpendicular to the direction of the emitted light beam, and the electric field direction of the linearly polarized light forms a 45-degree angle with the fast axis of the half-wave plate, or the electric field direction of the linearly polarized light forms a 45-degree angle with the slow axis of the half-wave plate. Placing the half-wave plate behind the collimating device 400 can ensure that the incident light beam has a small divergence angle when it enters the half-wave plate, preventing additional optical power loss caused by a large divergence angle. The half-wave plate can be, for example but not limited to, a zero-order wave plate.

[0296] Optionally, the first optical deflection device 100 deflects the light beam by multiple first deflection angles within a deflection period, and the second optical deflection device 200 deflects the light beam with multiple first deflection angles deflected by the first optical deflection device 100 within the deflection period by the same or different second deflection angles. Optionally, the second optical deflection device 200 can deflect the light beam deflected by the first optical deflection device 100 by one, or two or more second deflection angles within the deflection period.

[0297] In some embodiments, the deflection speed of the first optical deflection device 100 for the light beam is higher than that of the second optical deflection device 200 for the light beam. Around each second deflection angle of the coarse deflection of the second optical deflection device 200, the first optical deflection device 100 performs multiple fine deflections of the first deflection angle. It can be seen that in one scan of the entire field of view, the number of fine deflections of the first optical deflection device 100 is several times that of the coarse deflection of the second optical deflection device 200. Therefore, by using the first optical deflection device 100 with a faster deflection speed to perform the fine deflections with more requirements on the number of times, the optical deflection time required for scanning can be reduced.

[0298] In some embodiments, among the multiple different first deflection angles by which the first optical deflection device 100 is configured to deflect the incident light beam, the angular interval between two adjacent first deflection angles is less than or equal to the divergence angle of the incident light beam along the deflection direction, so that a small part of the edges of two adjacent light beams deflected by the first optical deflection device 100 overlap, thereby ensuring that the scanning area is fully covered without missing any scan.

[0299] In some embodiments, the divergence angle of the bar-shaped light beam formed after beam expansion by the beam expansion device 500 in the second direction is greater than or equal to the angular interval between two adjacent second deflection angles of the second light deflection device 200 in the second direction. Thereby, a small portion of the edges of two adjacent light beams deflected by two adjacent second deflection angles in the second direction can overlap, ensuring that the scanning area is fully covered without missed scanning.

[0300] In some embodiments, the deflection angle range of the light beam deflected by the first light deflection device 100 in the first direction is greater than or equal to the angular interval between two adjacent second deflection angles of the second light deflection device 200 in the first direction. Thereby, a small portion of the edges of the scanning areas covered by the light beams deflected by two adjacent second deflection angles in the first direction can overlap, ensuring that the scanning area is fully covered without missed scanning.

[0301] For the above light deflection device, when the incident light beam is a bar-shaped light beam: the first light deflection device 100 is configured to deflect the incident light beam by a plurality of different first deflection angles in the first direction, and project the deflected light beam onto the beam expansion device 500, so that the light beam expanded by the beam expansion device 500 is incident on different positions of the second light deflection device 200; the second light deflection device 200 is configured to deflect the deflected light beam incident at different first deflection angles by the same second deflection angle to complete the scanning of a corresponding scanning partition within the field of view; and so on, the second light deflection device 200 deflects the deflected light beam incident at different first deflection angles by a corresponding plurality of second deflection angles to complete the scanning of a plurality of scanning partitions corresponding to different second deflection angles.

[0302] In practical applications, the second light deflector 200 can be configured to deflect the light beams incident at different positions by the same second deflection angle, so as to complete the scanning of a corresponding scanning partition within the field of view; deflect the light beams incident at each position among different positions by a plurality of different second deflection angles, so as to complete the scanning of a plurality of scanning partitions corresponding to the plurality of different second deflection angles; the scanning partition is rectangular, and the length of the bar-shaped light beam after deflecting the second deflection angle is equal to the length of one direction of the scanning partition. Optionally, the second light deflector 200 is configured to deflect the light beams with a plurality of different first deflection angles by the same second deflection angle within one deflection period to complete the scanning of a corresponding scanning partition within the field of view; the second deflection angles for deflecting the light beams with the plurality of different first deflection angles are different in different deflection periods; or within one deflection period, deflect the light beams with a plurality of different first deflection angles by one of a plurality of different second deflection angles respectively to scan partial regions in the corresponding scanning partitions respectively; wherein, within one deflection period, the second deflection angles by which the light beams with a plurality of different first deflection angles are deflected are the same or different; the second deflection angles by which the light beams with each first deflection angle are deflected are different in different deflection periods.

[0303] For the above light deflection device, the light beam is deflected by the first light deflector 100 and the second light deflector 200 at different times by a plurality of different deflection angles to scan a preset field of view, and the length of the preset field of view in the first direction is less than the length in the second direction. Setting the second direction with the longer bar-shaped light beam formed by secondary deflection to be consistent with the longer direction of the entire field of view to be scanned can reduce the number of times the second light deflector deflects the bar-shaped light beam in the second direction, thereby reducing the volume and cost of the second light deflector, and shortening the light beam deflection time required for scanning.

[0304] It can be understood that in some embodiments, when completing the scanning of the entire field of view area, by configuring the deflection angles and sequences of the first light deflector 100 and the second light deflector 200 for deflecting the light beam, the scanning of one scanning area can be completed first, and then the scanning of the next scanning area can be carried out, and so on, until all the scanning areas are scanned. That is, the second light deflector 200 can deflect the deflected light beams incident at different first deflection angles by the same second deflection angle within one deflection period to centrally complete the scanning of a corresponding scanning partition within one deflection period, and thus the scanning of a plurality of different scanning partitions can be correspondingly completed after a plurality of deflection periods.

[0305] See Figure 2 As shown, the entire field of view angle can be divided into a plurality of scanning partitions. Figure 2Taking 16 scanning partitions as an example, it corresponds to 16 grids in the figure. The second light deflector 200 deflects by 2 second deflection angles in the first direction and 8 second deflection angles in the second direction, which can achieve the scanning of Figure 2 the 16 scanning partitions shown. Each scanning partition corresponds to a second deflection angle, that is, after the multiple first deflection angles deflected by the first light deflector 100 are deflected by the same second deflection angle by the second light deflector 200, a scanning partition can be covered. Among them, the scanning partition is rectangular, and the length of the bar-shaped light beam after deflecting the second deflection angle is equal to the length of one direction of the scanning partition. During actual scanning, in the first deflection period, the light beams with multiple first deflection angles deflected by the first light deflector 100 can be deflected by the first second deflection angle, and the scanning of the scanning partition corresponding to the first square in the first row is completed; in the second deflection period, the light beams with multiple first deflection angles deflected by the first light deflector 100 can be deflected by the second second deflection angle, and the scanning of the scanning partition corresponding to the second square in the first row is completed; and so on. In the fourth deflection period, the light beams with multiple first deflection angles deflected by the first light deflector 100 are deflected by the fourth second deflection angle, and as Figure 2 shown, the scanning of the scanning partition corresponding to the fourth square in the first row is completed; thus, after 16 deflection periods, the scanning of all scanning partitions corresponding to 16 squares is completed.

[0306] In some other embodiments, the second light deflector 200 can deflect the deflected light beams incident at different first deflection angles by more than two different second deflection angles within one deflection period; in this case, within one deflection period, instead of concentrating on scanning one corresponding scanning partition, it skips to scan different positions along the deflection direction of the first light deflector 100 in more than two different scanning partitions; thus, after multiple deflection periods, the scanning of all scanning partitions can also be completed. For example, in this embodiment, within one deflection period, the light beams formed by the first light deflector 100 and the second light deflector 200 correspond to scan the scanning partitions corresponding to different second deflection angles, and the scanned positions are relatively far apart from each other, which can reduce the mutual crosstalk between adjacent two scans.

[0307] See Figure 3As shown, the entire field of view angle can be divided into multiple scanning partitions, and the number of scanning partitions is 16, corresponding to the 16 grids in the figure. During one deflection period, the second light deflector 200 can deflect the light beams with multiple first deflection angles deflected by the first light deflector 100 by different second deflection angles to alternately scan different scanning partitions. For example, during the first deflection period, the second light deflector 200 deflects the light beam with the first first deflection angle by the first second deflection angle to scan a small strip area in the first square of the first row; deflects the light beam with the second first deflection angle by the second second deflection angle to scan a small strip area in the second square of the first row;... During the second deflection period, the second light deflector 200 deflects the light beam with the first first deflection angle by the first second deflection angle to scan a small strip area in the second square of the first row; deflects the light beam with the second first deflection angle by the second second deflection angle to scan a small strip area in the third square of the first row;... And so on, cross-scanning the scanning areas corresponding to each square. After multiple deflection periods, the scanning of all scanning partitions corresponding to all squares is completed.

[0308] Compared with the case of using a circular or near-circular light spot for scanning, scanning the field of view range with a long-strip light beam and deflecting the light beam by the AOD in the width direction of the light beam can greatly reduce the number of deflection angles of the LCPG in the first direction and the second direction. For example Figure 2 and Figure 3 as shown, deflecting 16 angles, 8 angles in the horizontal direction and 2 angles in the vertical direction, and the number of deflection angles of the LCPG is related to the number of layers it contains (i.e., the number of light deflection units in the second light deflector 200). Therefore, the number of layers of the LCPG can also be reduced. For example, when deflecting 16 angles, the LCPG only needs four layers, and the LCPG can be made thinner and smaller in size.

[0309] The splicing method of the light source 300 in the above light deflection device can be selected as needed.

[0310] Optionally, referring to Figure 8 as shown, multiple light-emitting units can be spliced into a row along the long axis direction to form a long-strip light beam that meets the aspect ratio. This splicing method can form a relatively slender long-strip light beam, and the length direction of the formed light beam is the horizontal direction. This shape of the light beam is more suitable for the scanning method in which the first light deflector deflects one-dimensionally in the vertical direction and then deflects one-dimensionally or two-dimensionally through the second light deflector.

[0311] Optionally, referring to Figure 9As shown, multiple light-emitting units can be spliced into two rows along the long axis to form a long-strip light beam that meets the aspect ratio. The width of the long-strip light beam formed by this splicing method is Figure 8 slightly wider than the method shown. A light beam of this shape is more suitable for the scanning method in which the first light deflection device performs one-dimensional deflection in the vertical direction and then the second light deflection device performs one-dimensional or two-dimensional deflection.

[0312] Optionally, refer to Figure 10 As shown, multiple light-emitting units can be spliced into a single column along the long axis to form a long-strip light beam that meets the aspect ratio. This splicing method can form a relatively slender long-strip light beam, and Figure 8 differently, the length direction of the light beam is the vertical direction. A light beam of this shape is more suitable for the scanning method in which the first light deflection device performs one-dimensional deflection in the horizontal direction and then the second light deflection device performs one-dimensional or two-dimensional deflection.

[0313] Optionally, refer to Figure 11 As shown, multiple light-emitting units can be spliced into two columns along the long axis to form a long-strip light beam that meets the aspect ratio. The width of the long-strip light beam formed by this splicing method is Figure 10 slightly wider than the method shown. A light beam of this shape is more suitable for the scanning method in which the first light deflection device performs one-dimensional deflection in the horizontal direction and then the second light deflection device performs one-dimensional or two-dimensional deflection.

[0314] Optionally, refer to Figure 12 As shown, multiple light-emitting units can be spliced into a single row along the short axis to form a long-strip light beam that meets the aspect ratio. This splicing method can form a relatively square block-shaped light beam with a small difference between the length and width dimensions. Relatively speaking, this light beam is more suitable for the scanning method in which the first light deflection device performs two-dimensional deflection and then the second light deflection device performs one-dimensional or two-dimensional deflection.

[0315] The first light deflection device 100 is, for example but not limited to, an acousto-optic deflector (AOD). The AOD can deflect the light beam according to a preset acoustic wave frequency. The AOD can include an incident aperture, an acousto-optic crystal, an acoustic wave generator, and an exit aperture. According to the specific scheme, the acousto-optic crystal can be configured to achieve quasi-continuous deflection of one-dimensional or two-dimensional light. The deflection response time is proportional to the width of the light beam in the crystal. The control device 600 is configured to apply a drive signal to the acoustic wave generator of the first light deflection device 100, and control the acoustic wave frequency of the acoustic wave generator acting on the acousto-optic crystal of the first light deflection device 100 through the drive signal, so as to change the deflection angle of the first light deflection device 100 for the light beam.

[0316] The second light deflection device 200 is, for example but not limited to, a liquid crystal polarization grating. By adjusting the arrangement state of the liquid crystal molecules of the liquid crystal polarization grating, deflections of different second deflection angles can be achieved; the second light deflection device 200 can deflect the light beam by more than one angle in the first direction and also by more than one angle in the second direction. For example Figure 2 and Figure 3 as shown in Figure 2 and Figure 3 , taking the example of deflecting by 2 angles in the first direction and 8 angles in the second direction, in practical applications, the number of deflection angles in each direction is set according to requirements. The second light deflection device 200 can adopt a partitioned structure or a non-partitioned structure. The liquid crystal material of the liquid crystal layer in the liquid crystal polarization grating sheet included in the liquid crystal polarization grating is nematic liquid crystal or blue phase liquid crystal. When blue phase liquid crystal is used, the speed of adjusting the deflection angle by the second light deflection device can be further increased, and the time for adjusting the deflection angle can be shortened.

[0317] In some embodiments, the control device 600 includes a first control unit 110 and a second control unit 230;

[0318] The first control unit 110 is configured to control the first light deflection device 100 to deflect multiple different first deflection angles in a time-sharing manner within a deflection period, and correspondingly incident the light beam of each first deflection angle on the second light deflection device 200;

[0319] The second control unit 230 is configured to control the second light deflection device 200 to receive the light beam in a time-sharing manner and deflect the light beam by the required second deflection angle.

[0320] In the above light deflection device, the incident light beam of each device is different according to its positional relationship. For example: when the collimating device 400 is not included, the incident light beam of the first light deflection device 100 is the light beam emitted by the light source, the incident light beam of the beam expanding device 500 is the light beam deflected by the first light deflection device 100, and the incident light beam of the second light deflection device 200 is the light beam expanded by the beam expanding device 500. Another example: when the collimating device 400 is included, the incident light beam of the collimating device 400 is the light beam emitted by the light source, the light beam after being collimated by the collimating device of the first light deflection device 100, the incident light beam of the beam expanding device 500 is the light beam deflected by the first light deflection device 100, and the incident light beam of the second light deflection device 200 is the light beam expanded by the beam expanding device 500. Other arrangement cases can be deduced by analogy.

[0321] In the above light deflection device according to the embodiment of the present utility model, during the process of the light beam scanning the entire field of view angle (FOV), increasing the number of deflection angle times of the light beam deflected by the light deflection device can reduce the divergence angle of the light beam after being deflected by the light deflection device. This is because the light beam needs to cover the angular range of the entire FOV after being deflected a preset number of times. The more the number of deflection angles, the smaller the requirement for the divergence angle of the light beam. Reducing the divergence angle can increase the power of the light beam per unit divergence angle, which is beneficial to improving the detection distance of the lidar.

[0322] The above light deflection device is used in the emission module of the lidar system; or the light deflection device is the light deflection device in the emission module of the lidar system.

[0323] The above light deflection device can be designed with specific design schemes according to needs. When different scheme designs are carried out, the aspect ratio of the scanning field of view range, the length ratio of the scanning spot reaching far away, the splicing method of the light source, etc. can be determined first, and these can all be adjusted and designed according to needs. Then, according to parameters such as the liquid crystal response time of the liquid crystal polarization grating, the vertical optical path and the horizontal optical path are designed, and the number and type of lenses in the optical path are selected. For example, how many collimating lenses and beam expanding lenses are used respectively, and whether a cylindrical lens or a spherical lens is used; and the positional relationship between each device. Thus, a light beam with a certain aspect ratio emitted by the light source is collimated, and after collimating a light beam with a relatively smaller aspect ratio, it enters the first light deflection device 100. The first light deflection device 100 performs a more refined deflection. After being beam-expanded by the beam expansion device 500, it is then roughly deflected by the second light deflection device 200, so as to cover the required scanning field of view range.

[0324] Design scheme 1:

[0325] Suppose the liquid crystal response time of the liquid crystal polarization grating is 5 ms. The collimating device 400 uses two cylindrical lenses F1 and F2, the first light deflection device 100 uses an AOD, the second light deflection device 200 uses a partitioned LCPG module, and the beam expansion device 500 uses four cylindrical lenses F3, F4, F5 and F6. Among them, in the vertical direction, the collimating lens F2 is used to collimate the light beam, and the beam expansion lenses F3 and F4 are used to expand the light beam. In the horizontal direction, the collimating lens F1 is used to collimate the light beam, and the beam expansion lenses F5 and F6 are used to expand the light beam.

[0326] The length L from the light source to the second light deflection device (LCPG module) is calculated by the following formula;

[0327] L = 2 * (F1 + F3 + F4) + d;

[0328] F1, F3 and F4 are the focal lengths of the lenses F1, F3 and F4 respectively, and d is the distance from the rear focal plane of the lens F4 to the length of the LCPG. The calculation formula of d is:

[0329] d * 2 * tan(Θv / 2) ≥ m * {θv 2 * d + Wv 2} 1 / 2 ,

[0330] where Θv is the vertical deflection angle of the light beam after passing through the AOD and the beam expansion and divergence lens group, θv is the divergence angle of the light beam in the vertical direction at this time, and Wv is the waist diameter of the light beam in the vertical direction after passing through the AOD and the beam expansion and divergence lens group. Θv and θv are given by the scanning spot parameters. The calculation formula for Wv is as follows;

[0331] Wv = Wv0 * θv0 / θv

[0332] Wv0 and θv0 are the waist diameter and divergence angle of the laser beam emitted by the laser light source in the vertical direction.

[0333] The total dimensions of the LCPG in the horizontal and vertical directions are respectively

[0334] Lh = d * 2 * tan(Θh / 2)

[0335] Lv = d * 2 * tan(Θv / 2)

[0336] Θh is the divergence angle of the laser beam incident on the LCPG module in the horizontal direction.

[0337] Although this scheme requires a large number of cylindrical lenses, the power per unit FOV is relatively high and the requirement for the speed of the LCPG is relatively low. In this scheme, the combination of cylindrical lenses F5 and F6 for beam expansion in the horizontal direction may affect the divergence of the beam in the vertical direction. Considering this point, the cylindrical lenses F5 and F6 can be omitted, but the size of the LCPG module needs to be correspondingly increased to receive all the beams.

[0338] Design Scheme 2:

[0339] Assume that the liquid crystal response time of the liquid crystal polarization grating is 5 ms. The collimating device uses two cylindrical lenses F1 and F2, the first light deflection device 100 uses an AOD, the second light deflection device 200 uses a partitioned LCPG module, and the beam expansion and divergence device uses two spherical lenses F3 and F4. Among them, in the vertical direction, the collimating lens F2 is used for beam collimation, and the beam expansion and divergence lenses F3 and F4 are used for beam expansion and divergence. In the horizontal direction, the collimating lens F1 is used for beam collimation, and the beam expansion and divergence lenses F3 and F4 are used for beam expansion and divergence. The LCPG module has 4 layers, that is, 4 light deflection units realize 16 deflection angles of separation.

[0340] In the vertical direction: The emission width V1 of the light source in the vertical direction (the first direction) and the divergence angle θ1 of the light source emitting in the vertical direction (the first direction) are collimated by a cylindrical lens with a focal length of F2. When the light beam is incident on the first light deflection device, the following relationships are satisfied among the waist diameter V2 of the light beam in the first direction, the divergence angle θ2 of the light beam in the first direction, and the focal length F2 of the collimating lens collimating the light beam in the first direction: θ2 = V1 / F2, θ2V2 = θ1V1. The distance between the optical center of the cylindrical lens with a focal length of F2 and the light source can be optionally selected as the focal length F2.

[0341] In the horizontal direction: The emission length H1 of the light source in the horizontal direction (the second direction) and the divergence angle Θ1 of the light source emitting in the horizontal direction (the second direction) are collimated by a cylindrical lens with a focal length of F1. When the light beam is incident on the first light deflection device, the following relationships are satisfied among the waist diameter H2 of the light beam in the second direction, the divergence angle Θ2 of the light beam in the second direction, and the focal length F1 of the collimating lens collimating the light beam in the second direction: Θ2 = H1 / F1, Θ2H2 = Θ1H1. The distance between the optical center of the cylindrical lens with a focal length of F1 and the light source can be optionally selected as the focal length F1.

[0342] In some embodiments, when a long-strip light source is generally selected, H1 >> V1 can be chosen. Correspondingly, since Θ1 ~ θ1, appropriate lens focal lengths F1 and F2 can be selected such that Θ2 >> θ2. In this way, after the light spot passes through the subsequent spherical lens, it will present as a long strip in the far field.

[0343] To enable as much light energy as possible to pass through the AOD, the clear aperture of the AOD in the vertical direction should preferably be greater than or equal to V2, and the clear aperture of the AOD in the horizontal direction should preferably be greater than or equal to H2. The distance between the AOD and the light source is preferably 2*F1. This is because Θ2 << θ2, so after collimation, the laser is approximately parallel in the vertical direction, while still having a relatively large divergence angle in the horizontal direction. Placing the AOD at a distance of twice the F1 focal length from the light source ensures that the clear aperture of the AOD in the vertical direction can be minimized to V2.

[0344] The AOD is configured to deflect the light beam in the vertical direction. In the collimating device 400, the first cylindrical lens strictly collimates the light beam in the vertical direction, requiring the divergence angle Θ2 ≤ 0.3°; the second cylindrical lens non-strictly collimates the light beam in the horizontal direction, and in practice, the divergence angle θ2 ≥ 3° is allowed.

[0345] The light beam exits the AOD and enters the beam expander 500, which amplifies the deflection angle of the light beam exiting the AOD. In this solution, a Keplerian lens group is taken as an example. The focal lengths of the two beam expander lenses are F3 and F4 respectively, and the beam expansion multiple is F3 / F4. If the AOD deflects the light beam within a range of ±1.5 degrees, then after passing through the AOD, the deflection range becomes ±(1.5 * F3 / F4) degrees. Synchronously, the divergence angles of the light beam, Θ2 and θ2, are also expanded by F3 / F4 times. The distance between the AOD and the first beam expander lens is F3, which is its focal length F3, and the distance between the beam expander lens group F3 and F4 is F3 + F4. After passing through F3 and F4, the light beam narrows to the minimum at the back focal plane of the lens, where in the vertical direction V3 = V2 * F4 / F3, and in the horizontal direction H3 = H2 * F4 / F3.

[0346] This method does not require a cylindrical lens, reducing the number of lenses. At the same time, the power per unit FOV is relatively high, and the requirement for the LCPG speed is relatively low. Moreover, using a spherical lens to amplify the deflection angle of the light beam can reduce optical distortion compared to a cylindrical lens.

[0347] The LCPG module includes at least one LCPG unit, and each LCPG unit includes a liquid crystal half-wave plate and an LCPG plate.

[0348] The thicknesses of the liquid crystal half-wave plate and the LCPG plate are mainly determined by the thickness of the glass substrate. In practice, generally, the thickness of the glass substrate << 1mm, and the total thickness of the multi-layer liquid crystal < 1mm. At this time, the thickness of the LCPG can be ignored in the optical path design.

[0349] The LCPG plate in this solution can be a passive LCPG or an active LCPG. The difference between the two is as follows:

[0350] The passive LCPG does not require a voltage to be applied during operation. The LCPG module using the passive LCPG only needs to apply a corresponding voltage to the liquid crystal half-wave plate to achieve the deflection of the light beam during operation;

[0351] The active LCPG requires corresponding voltages to be applied for different deflection angles. The LCPG module using the active LCPG needs to apply corresponding voltages to the liquid crystal half-wave plate and the active LCPG respectively during operation.

[0352] This solution can arrange the LCPG units that deflect the light beam in the deflection direction with fewer deflection angles earlier in the optical path to improve the diffraction efficiency of the passing light beam. However, the corresponding light beam deflection function can also be achieved without setting according to the above order requirements.

[0353] The above are several design examples of the light deflection device. In actual applications, the optical path design and device selection of the light deflection device can be designed according to the scanning requirements.

[0354] The following describes several typical structures of the above-mentioned light deflection device of the present utility model through specific embodiments.

[0355] Embodiment 2

[0356] For the light deflection device provided in Embodiment 2 of the present utility model, see the structure schematic diagram Figure 13 as shown, and see the three-dimensional structure diagram Figure 4 as shown. The device includes a collimating device 400, a first light deflection device 100, a beam expanding device 500, a second light deflection device 200, and a control device 600. In this embodiment, the first light deflection device 100 performs one-dimensional deflection of the light beam in a first direction, and the second light deflection device 200 performs two-dimensional deflection of the light beam in the first direction and a second direction. In this embodiment, the second light deflection device 200 adopts a partitioned structure. Specifically, the first light deflection device 100 deflects the incident light beam by a plurality of different first deflection angles in sequence in the first direction, and the second light deflection device 200 deflects the light beam by a plurality of different second deflection angles in the first direction and the second direction. In this embodiment, the first light deflection device performs one-dimensional deflection on the light beam, and the second light deflection device performs two-dimensional deflection on the light beam, which is relatively suitable for the case where the light beam emitted by the light source is a strip-shaped light beam. In this light deflection device:

[0357] A light source 300, configured to emit a light beam, where the length of the light beam in the first direction is less than the length in the second direction;

[0358] A collimating device 400, configured to collimate the light beam before the light beam enters the first light deflection device 100;

[0359] A first light deflection device 100, configured to deflect the light beam by a plurality of first deflection angles in the first direction within one deflection period;

[0360] A beam expanding device 500 is disposed between the first light deflection device and the second light deflection device, and is configured to magnify the deflection angle of the light beam deflected by the first light deflection device 100 by a preset multiple and then incident it on the second light deflection device 200;

[0361] A second light deflection device 200, configured to deflect the light beam deflected by the first light deflection device 100 by a plurality of second deflection angles in the first direction and the second direction;

[0362] A control device 600, configured to control the light source 300 to emit a light beam, and control the first light deflection device 100 and the second light deflection device 200 to deflect the light beam.

[0363] The collimation device 400 can adopt a collimation lens, the first light deflection device 100 can adopt an AOD, the beam expansion device 500 can adopt a beam expansion lens, and the second light deflection device 200 can adopt an LCPG module. For the optical path of the device in the first direction (vertical direction), please refer to Figure 5a as shown, and for the optical path in the second direction (horizontal direction), please refer to Figure 5b as shown.

[0364] The light source 300 emits a bar-shaped light beam. After being collimated by the collimation device 400, the bar-shaped light beam irradiates the first light deflection device 100. The width direction of the bar-shaped light beam is the first direction, and the length direction is the second direction. For the structure of the light source, please refer to Figure 7 as shown. The light source 300 can include multiple light-emitting units 310.

[0365] The collimation device 400 collimates the light beam in both the first direction and the second direction. A light source control unit can be used to control the light source to emit light according to a preset time sequence. Among them, the collimation requirement in the first direction is higher, so that the divergence angle of the light beam in the first direction is smaller. This requirement can be achieved through the characteristics of the collimation device. Since there is an inverse relationship between the size and divergence angle of the light beam after collimation when the collimation device collimates the light beam, a higher collimation degree can be obtained in the width direction of the bar-shaped light beam than in the length direction. Please refer to Figure 5a and Figure 5b as shown. Two collimation lenses collimate the light beam in the first direction and the second direction respectively. In the figure, two cylindrical lenses are taken as an example.

[0366] The first light deflection device 100 deflects the light beam in the first direction. It can deflect the light beam at multiple first deflection angles within a preset angle range, and the multiple first deflection angles can have a set angular interval. The first light deflection device 100 can deflect the light beam according to a preset time sequence.

[0367] The light beam deflected by the first light deflection device 100 is beam-expanded by the beam expansion device 500 to expand the deflection angles of the light beam in the first direction and the second direction. Please refer to Figure 5a as shown. Two beam expansion lenses expand the light beam in the first direction. The deflection angle of the light beam in the first direction is increased after passing through the two beam expansion lenses, and the beam-expanded light beam is then projected onto the corresponding position of the second light deflection device 200. Please refer to Figure 5b as shown. Two beam expansion lenses expand the light beam in the second direction. The deflection angle of the light beam in the first direction is increased after passing through the two beam expansion lenses, and the beam-expanded light beam is then projected onto the corresponding position of the second light deflection device 200.

[0368] The second light deflector 200 deflects the light beam. In this embodiment, it is taken as an example that the second light deflector 200 can deflect the light beam at multiple different angles in two directions, namely the first direction and the second direction. For example, it can deflect at two angles in the first direction and at eight angles in the second direction.

[0369] The second light deflector 200 can adopt a partitioned structure or a non-partitioned structure.

[0370] In this embodiment, it is described by taking the second light deflector 200 adopting a partitioned structure as an example. When the second light deflector 200 adopts a partitioned structure, it can solve the problems that when a lidar uses a liquid crystal polarization grating to realize beam deflection, the waiting time for deflection angle switching is long, the angle adjustment is slow, and it affects the scanning detection frame rate of the lidar. The second light deflector is divided into different deflection partitions. After the light beams with different first deflection angles are expanded and polarized, they can be projected onto different deflection partitions of the second light deflector 200. Each deflection partition can use its unirradiated time to adjust the deflection angle. The scanning system does not need to wait for the light deflector to adjust its state to change the deflection angle, so that the scanning can be continuous, thereby avoiding the waiting time for angle adjustment, improving the switching speed, and still meeting the requirements of the detection frame rate when increasing the number of beam deflection angle times. This design realizes high frame rate, large field of view angle and long ranging ability, and can meet the application requirements of vehicle-mounted lidar and other scenarios. In this embodiment, the deflection partitions in the second light deflector 200 are arranged corresponding to the first direction.

[0371] For the structure of the second light deflector 200 adopting a partitioned structure, see Figure 14a 、 14b As shown in 14c and 14d. The second light deflector 200 may include a plurality of deflection partitions 212, and the plurality of deflection partitions 212 can independently adjust the deflection angle, that is, the deflection angle of each deflection partition 212 for the incident light beam can be adjusted separately; in the case of adopting a partitioned structure:

[0372] The first light deflector 100 is configured to deflect the incident light beam at multiple different first deflection angles within a deflection period so as to correspondingly be incident on the corresponding deflection partitions 212 of the second light deflector 200;

[0373] A plurality of deflection partitions 212 are configured to deflect the incident light beam by the required second deflection angle for the currently scanned deflection partition 212;

[0374] A control device 600 is configured to control a first light deflector 100 to deflect an incident light beam, control a currently scanned deflection partition 212 in a second light deflector 200 to deflect the incident light beam, and control at least one currently unscanned deflection partition 212 to adjust its deflection angle for the light beam, so that the deflection angle of at least one deflection partition 212 for the incident light beam is adjusted to a second deflection angle required for the next deflection period after the incident light beam finishes scanning in the current deflection period and before the incident light beam starts scanning in the next deflection period.

[0375] The control device 600 can be configured to control the first light deflector 100 to deflect the incident light beam by multiple different first deflection angles within a deflection period to correspondingly impinge on corresponding deflection partitions of the second light deflector 200; it can also be configured to control the currently scanned deflection partition in the second light deflector 200 to deflect the incident light beam by a required second deflection angle; and it can further be configured to control at least one currently unscanned deflection partition 212 to adjust its deflection angle for the light beam, so that the deflection angle of at least one deflection partition 212 for the incident light beam is adjusted to a second deflection angle required for the next deflection period after the incident light beam finishes scanning in the current deflection period and before the incident light beam starts scanning in the next deflection period. Optionally, the control device 600 is specifically configured to concurrently execute the following control processes: controlling the currently scanned deflection partition in the second light deflector 200 to deflect the incident light beam, and controlling at least one currently unscanned deflection partition 212 to adjust its deflection angle for the light beam. That is to say, while the currently scanned deflection partition 212 in the second light deflector 200 deflects the incident light beam, at least one currently unscanned deflection partition 212 can adjust its deflection angle for the light beam under the control of the control device 600.

[0376] Within a deflection period, the control device 600 controls the first light deflector 100 to deflect the light beam by multiple different first deflection angles in a time-sharing manner to correspondingly impinge on multiple deflection partitions 212 on the second light deflector 200, and the multiple deflection partitions 212 receive the incident light beam in a time-sharing manner and deflect the incident light beam; wherein, the deflection period is the time required for the incident light beam with multiple different first deflection angles to scan all the deflection partitions 212 once. Or rather, the deflection period is the time required for the incident light beam with multiple different first deflection angles to traverse and scan all the deflection partitions 212. In this case, within one deflection period, all the incident light beams with multiple different first deflection angles will scan all the deflection partitions 212, that is, each deflection partition 212 is scanned and there will be no missed scan.

[0377] Alternatively, the deflection period is the time required for the incident light beam with a partial first deflection angle specified from among a plurality of different first deflection angles to scan once a partial deflection partition 212 specified from among a plurality of deflection partitions 212. In other words, the deflection period is the time required for the incident light beam with a partial first deflection angle specified from among a plurality of different first deflection angles to traverse and scan a partial deflection partition 212 specified from among a plurality of deflection partitions. During one deflection period, some of the plurality of deflection partitions 212 are scanned, that is, some of the deflection partitions 212 are skipped. The partial deflection partitions 212 specified for different deflection periods may be the same or different. Correspondingly, the incident light beams with the specified partial first deflection angles may be the same or different.

[0378] During each deflection period, the control device 600 can control the first light deflection device 100 to generate a plurality of incident light beams with different first deflection angles within a preset angular range at preset deflection time intervals and project them onto corresponding deflection partitions of the second light deflection device 200. During one deflection period, the control device 600 can control the first light deflection device 100 to time-division deflect the incident light beam into a plurality of different first deflection angles, and the incident light beams with the plurality of different first deflection angles are time-division incident onto a plurality of deflection partitions. The plurality of deflection partitions of the second light deflection device 200 time-division receive the incident light beams and deflect the incident light beams. Moreover, the first light deflection device 100 is configured to sequentially incident the incident light beams with the plurality of different first deflection angles onto corresponding deflection partitions in the second light deflection device 200 in a preset order within one deflection period; one deflection partition 212 is configured to deflect the incident light beam by a corresponding second deflection angle within one deflection period.

[0379] The above-mentioned second light deflection device 200 can achieve controlling at least one deflection partition 212 to complete an adjustment of the second deflection angle within the scanning interval between two adjacent deflection periods through the control device 600, so that at least one deflection partition can be adjusted to the required second deflection angle before the incidence of the previously scanned deflection partition 212 ends. That is to say, the control device 600 can control the light beam emitted by the first light deflection device 100 to be incident on each deflection partition 212 in a time-sharing manner. At least one deflection partition 212 will make a response in advance to prepare for receiving the incident light beam in the next deflection period. Before the light beam is incident on this deflection partition 212 in the next deflection period, the deflection angle of the incident light beam by this deflection partition 212 has been pre-adjusted to the second deflection angle required for the next deflection period, which can reduce the waiting time for angle adjustment to a certain extent, so that at least one incident light beam in the next deflection period can be irradiated without waiting, thereby improving the scanning frame rate of the light scanning. To further improve the scanning frame rate, optionally, the control device 600 can control each deflection partition 212 to complete an adjustment of the second deflection angle within the incidence interval between two adjacent deflection periods, so that each deflection partition 212 can be adjusted to the required second deflection angle before the incidence of the previously scanned deflection partition 212 ends, so that the incident light beam of each first deflection angle can be directly irradiated without waiting, thereby improving the scanning frame rate of the light scanning.

[0380] Within a deflection period, incident light beams with multiple different first deflection angles can be incident on the corresponding deflection partitions 212 in a preset order; the incident order of the incident light beams with multiple different first deflection angles can be preset and can be achieved through the control of the control device 600. Within a deflection period, the multiple different first deflection angles of the incident light beams change from large to small, or from small to large, or change according to a preset random rule in the corresponding deflection direction. Optionally, the incident angles of the incident light beams with multiple different first deflection angles can change from large to small, for example: change in sequence from -1.5, -1.0, -0.5, 0, 0.5, 1, 1.5. Optionally, the incident angles of the incident light beams with multiple different first deflection angles can change from small to large, for example: change in sequence from 1.5, 1.0, 0.5, 0, -0.5, -1, -1.5. Optionally, the incident angles of the incident light beams with multiple different first deflection angles of the light deflection unit group can also change according to a preset random rule, for example: randomly change from -1.5, 1, -0.5, 0, -1.0, 0.5, 1.5. Within different deflection periods, the incident order of the incident light beams can be the same or different.

[0381] For the above-described second light deflector 200, the plurality of deflection zones 212 are configured such that the plurality of second deflection angles by which the incident light beam is deflected within one deflection period are all the same, or all different, or some are the same and some are different. Optionally, within one deflection period, the second deflection angles by which the incident light beams having the plurality of first deflection angles are further deflected can be one, or two or more. For example: within one deflection period, the plurality of deflection zones 212 deflect the incident light beams having the plurality of different first deflection angles by 1 degree each; in the next period, the plurality of deflection zones 212 deflect the incident light beams having the plurality of different first deflection angles by 2 degrees each; and so on; or for another example: within one deflection period, the first deflection zone 212 deflects the incident light beam having at least one first deflection angle by 1 degree; the second deflection zone 212 deflects the incident light beam having at least one first deflection angle by 2 degrees; and so on. Or for another example: within one deflection period, the first deflection zone 212 deflects the incident light beam having at least one first deflection angle by 1 degree; the second deflection zone 212 deflects the incident light beam having at least one first deflection angle by 1 degree; the third deflection zone 212 deflects the incident light beam having at least one first deflection angle by 3 degrees; the fourth deflection zone 212 deflects the incident light beam having at least one first deflection angle by 5 degrees; and so on.

[0382] For the above-described second light deflector 200, one deflection zone 212 can be configured to correspondingly receive the incident light beams having at least one first deflection angle. Optionally, one deflection zone 212 can be configured to sequentially receive one, two or more different first deflection angle incident light beams within one deflection period.

[0383] For the above-described second light deflector 200, the arrangement direction of the plurality of deflection zones 212 is consistent with the scanning direction of the incident light beams having the plurality of different first deflection angles. The plurality of deflection zones 212 can be arranged in a one-dimensional manner along one direction, or can be arranged in a two-dimensional array manner, and their arrangement direction can be consistent with the scanning direction of the incident light beams having the first deflection angle. For example, if the incident light beam scans along the first direction, then the plurality of deflection zones 212 are also arranged along the first direction; if the incident light beam performs two-dimensional array scanning, then the plurality of deflection zones are arranged in a two-dimensional array manner. The scanning mode of the incident light beam can be related to the shape of the incident light beam. In this application, the example of arrangement along one direction is taken.

[0384] When the incident light beam is a strip-shaped light beam with an aspect ratio greater than a set threshold, the first light deflector 100 is configured to deflect the incident light beam by a plurality of different first deflection angles along the first direction within one deflection period to perform one-dimensional scanning on the second light deflector 200, and the plurality of deflection zones 212 included in the second light deflector 200 are arranged along the first direction of the light beam deflection; for example Figure 14a 、 14b, as shown in FIGS. 14c and 14d, a plurality of deflection partitions 212 are arranged in the vertical direction. The deflection partition 212 may be a rectangle with an aspect ratio greater than a set threshold. The width direction of the deflection partition is consistent with the scanning direction of the incident light beams with a plurality of different first deflection angles, that is, the width direction of the deflection partition is along the first direction, and the length direction of the deflection partition is along the second direction.

[0385] For the above-described second light deflection device 200, the plurality of deflection partitions 212 are configured such that the number of incident light beams received by each deflection partition 212 is the same, different, or partially the same and partially different; correspondingly, the widths of the plurality of deflection partitions 212 are the same, different, or partially the same and partially different. The light incident surface of the deflection partition is a rectangle with an aspect ratio greater than a set threshold, and the width direction of the deflection partition is consistent with the scanning direction of the light beams with a plurality of different first deflection angles. The width of each deflection partition 212 is determined according to the number of incident light beams received and the width of the incident light beams.

[0386] It can be set such that the number of incident light beams received by each deflection partition 212 is the same. For example: each deflection partition 212 receives one incident light beam, that is, the incident light beams of the deflection partitions 212 are in one-to-one correspondence, or each deflection partition 212 receives two or more incident light beams, and the relationship between the deflection partition 212 and the incident light beams is one-to-two or one-to-many. In this case, the widths of each deflection partition 212 may be the same, and the width of each deflection partition 212 is equal to the sum of the widths of the light beams it receives correspondingly. For example, in the case of one-to-two, the width of one deflection partition 212 is equal to the sum of the widths of two light beams.

[0387] It can be set such that the number of incident light beams received by each deflection partition 212 is different. For example, the first deflection partition 212 receives one incident light beam, the second deflection partition 212 receives two incident light beams, the third deflection partition 212 receives three incident light beams, and so on. In this case, the widths of each deflection partition 212 are different, and the width of each deflection partition 212 is equal to the sum of the widths of the light beams it receives correspondingly.

[0388] It can be set such that the number of incident light beams received by each deflection partition 212 is partially the same and partially different. For example, the first deflection partition 212 receives one incident light beam, the second deflection partition 212 receives two incident light beams, the third deflection partition 212 receives one incident light beam, the fourth deflection partition 212 receives two incident light beams, and so on. In this case, the widths of each deflection partition 212 are partially the same and partially different, and the width of each deflection partition 212 is equal to the sum of the widths of the light beams it receives correspondingly.

[0389] In some alternative embodiments, the control device 600 can determine whether it is possible to adjust the deflection angle of the light beam for each deflection partition 212 according to the scanning state of each deflection partition 212. Each deflection partition 212 can adjust the deflection angle of the light beam when it is in a non-scanning state. The above control device 600 can also be used to determine whether each deflection partition 212 is in a scanning state. After determining that a deflection partition 212 has completed the deflection of the incident light beam in the current deflection cycle and is in a non-scanning state, the control device controls the deflection partition 212 to adjust the deflection angle of the light beam, and before entering the scanning state in the next deflection cycle, adjusts the deflection angle of the light beam of the deflection partition 212 to the second deflection angle required for the next deflection cycle. Each deflection partition 212 can start to adjust the deflection angle of the light beam of the deflection partition 212 after it has completed the deflection of the light beam in the current deflection cycle and is in a non-scanning state, so as to better ensure that the angle can be adjusted in time. The non-scanning state means that there is no current incident light beam and no light beam deflection is required.

[0390] In practical applications, the deflection partition 212 currently scanned by the light beam can be determined as the deflection partition in the scanning state, and the remaining deflection partitions 212 can be determined as the deflection partitions in the non-scanning state. That is to say, if a deflection partition is the deflection partition currently scanned by the incident light beam, it is determined that the deflection partition is in the scanning state; otherwise, it is determined that the deflection partition is in the non-scanning state.

[0391] Optionally, the deflection partition 212 currently scanned by the light beam and the next deflection partition 212 to be scanned can also be determined as the deflection partitions in the scanning state, and the remaining deflection partitions 212 can be determined as the deflection partitions in the non-scanning state. The remaining deflection partitions 212 include all the deflection partitions in the second light deflection device 200 except the deflection partition 212 currently scanned by the light beam and the next deflection partition 212 to be scanned; the deflection partition currently scanned by the light beam and the next deflection partition to be scanned are adjacent deflection partitions in terms of position, or can also be non-adjacent deflection partitions in terms of position. That is to say, if a deflection partition 212 is the deflection partition currently scanned by the incident light beam or the next deflection partition to be scanned, it is determined that the deflection partition 212 is in the scanning state; otherwise, it is determined that the deflection partition 212 is in the non-scanning state. The deflection partition currently scanned by the incident light beam and the next deflection partition to be scanned can be adjacent deflection partitions in terms of position or non-adjacent deflection partitions in terms of position. The incident light beam usually scans each deflection partition 212 in a set order. The control device 600 can determine the next deflection partition to be scanned according to the currently scanned deflection partition and the scanning order.

[0392] Since the incident light beam deflected by the first light deflector 100 can irradiate different positions of the second light deflector 200, and different positions of the second light deflector 200 correspond to different deflection zones, it is possible to determine which deflection zones are in the scanning state and which deflection zones are in the non-scanning state according to the incident position. The control device 600 is specifically configured to determine the deflection zones 212 in the current scanning state and the deflection zones 212 in the non-scanning state according to the scanning position of the incident light beam on the second light deflector 200; for the deflection zones 212 in the non-scanning state, if the scanning order of the deflection zone 212 is before that of the deflection zones 212 in the scanning state, it is considered that the deflection zone has completed the light beam deflection of the current deflection cycle, and the deflection angle of the light beam by the deflection zone 212 can be adjusted, and the deflection angle of the light beam by it can be adjusted to the second deflection angle required for the next deflection cycle.

[0393] The adjustment of the deflection angles of the respective deflection zones in the second light deflector 200 can be achieved by changing the voltage on the electrodes. Different light deflectors have different principles for deflecting light beams. For a light deflector that changes the deflection angle by changing the refractive index, when the second light deflector 200 has a non-zoned structure, the control device 600 is used to control the voltage applied to the electrodes of the second light deflector 200 to adjust the refractive index of the medium in the second light deflector 200 for the incident light beam, so as to adjust the deflection angle of the incident light beam by the second light deflector 200; when the second light deflector 200 has a zoned structure, the control device 600 is used to control the voltage applied to the electrodes of the respective deflection zones 212 to adjust the refractive index of the medium in the deflection zone 212 for the incident light beam, so as to adjust the deflection angle of the incident light beam by the deflection zone 212.

[0394] For example: when the second light deflector 200 uses a liquid crystal polarization grating and has a non-zoned structure, the control device 600 is used to control the voltage applied to the electrodes of the second light deflector to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the light beam by the second light deflector; when the second light deflector 200 uses a liquid crystal polarization grating and has a zoned structure, the control device 600 is used to control the voltage applied to the electrodes of the respective deflection zones 212 to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the incident light beam by the deflection zone.

[0395] In some alternative embodiments, refer to Figure 14a 、 14bAs shown in FIGS. 14c and 14d, the second light deflection device 200 includes at least one light deflection unit 210, and the light deflection unit 210 includes a plurality of sub-deflection partitions 2121; the deflection partition 212 includes the sub-deflection partitions 2121 corresponding in position in at least one light deflection unit 210. When the second light deflection device 200 includes one light deflection unit 210, the deflection partition is a sub-deflection partition 2121 on this one light deflection unit 210; when the second light deflection device 200 includes two light deflection units 210, the deflection partition includes two sub-deflection partitions 2121 corresponding in position on these two light deflection units 210. When the second light deflection device 200 includes a plurality of light deflection units 210, the deflection partition 212 includes a plurality of sub-deflection partitions 2121 corresponding in position on these plurality of light deflection units 210. The above-mentioned second light deflection device 200 may include one or several light deflection units 210, and the number of light deflection units 210 is related to the number of second deflection angles. Figure 14a , 14b In FIGS. 14c and 14d, 4 light deflection units 210 are taken as an example for illustration. In practical applications, the number of light deflection units 210 can be set as required. Through the deflection angles of each light deflection unit 210, a plurality of required deflection angles can be combined. For example, when one light deflection unit 210 can achieve 2-angle deflection, if 4-angle deflection is required during light scanning, 2 light deflection units 210 are set; if 8-angle deflection is required, 3 light deflection units 210 are set; if 16-angle deflection is required, 4 light deflection units 210 are set; and so on. That is, the relationship between the number N of light deflection units 210 and the number M of required deflection angles satisfies M = 2 N .

[0396] The light deflection unit 210 includes sub-deflection partitions 2121 whose deflection angles for the light beam can be independently adjusted. Since the light deflection unit 210 has a plurality of sub-deflection partitions 2121 that can independently control the deflection angles, light beams with different deflection angles can be respectively incident on one of the sub-deflection partitions 2121 and deflected. Therefore, the deflection angle of the light beam can be adjusted by using the time when the sub-deflection partition 2121 is not being scanned. When the second light deflection device 200 includes at least one light deflection unit 210, the control device 600 is specifically configured to respectively control the voltages on the two electrodes at both ends of each sub-deflection partition 2121, and change the deflection angle of at least one sub-deflection partition for the incident light beam by changing the voltages on the two electrodes at both ends of at least one sub-deflection partition 2121, so as to change the second deflection angle of the corresponding deflection partition 212 for the incident light beam. That is to say, by adjusting the deflection angles of some or all of the sub-deflection partitions 2121 in the plurality of sub-deflection partitions 2121 for the light beam, the second deflection angle of the entire deflection partition 212 for the incident light beam is changed.

[0397] The above-mentioned second light deflection device 200 can deflect an incident light beam in one direction or in two different directions. When it is only necessary to deflect the light beam in one direction, at least one light deflection unit 210 included in the second light deflection device 200 deflects the incident light beam in the same direction. In this case, the number of light deflection units 210 is set according to the number of second deflection angles to be deflected, and can be one, two or more.

[0398] In order to achieve angular deflection of the light beam in two different directions, the second light deflection device 200 may include at least two light deflection units 210, or rather the second light deflection device 200 includes at least two light deflection unit groups 220, and each light deflection unit group 220 includes at least one light deflection unit 210. Among them, at least one light deflection unit group 220 is configured to deflect the light beam in the first direction, and at least one light deflection unit group 220 is configured to deflect the light beam in the second direction, and the first direction and the second direction may be perpendicular to each other.

[0399] Optionally, the light deflection unit group 220 with a smaller number of deflection angles of the light beam is arranged at a position relatively closer to the light incident side. Thus, a better deflection effect can be obtained. For example Figure 14a 、 14b As shown in 14c and 14d, the light deflection unit group 220 for deflecting in the first direction includes one light deflection unit 210, which is placed on the leftmost side to achieve deflection of 2 angles in the first direction. See Figure 5a As shown in the schematic optical path diagram of the light deflection device 10 deflecting the light beam in the first direction, the light beam emitted by the light source 300 is collimated by the collimation device 400 and then incident on the first light deflection device 100. After being expanded by the beam expanding device 500, the deflected light beam is incident on corresponding different deflection zones of the second light deflection device 200. The second light deflection device 200 can deflect two different angles in the first direction; the light deflection unit group 220 for deflecting in the second direction includes 3 light deflection units 210, which are placed on the rightmost side to achieve deflection of 8 angles in the second direction. See Figure 5b As shown in the schematic optical path diagram of the light deflection device 10 deflecting the light beam in the second direction, the light beam emitted by the light source 300 is collimated by the collimation device 400 and then incident on the first light deflection device 100. After being expanded by the beam expanding device 500, the deflected light beam is incident on the second light deflection device 200. The second light deflection device 200 can deflect 8 different angles in the second direction. Figure 5bOnly three angles are shown in the figure. The light deflection unit 210 for light beam deflection along the deflection direction with fewer deflection angles is arranged at the front of the optical path, which can improve the diffraction efficiency of the light beam passing through. The corresponding light beam deflection function can also be achieved without being arranged in the above order.

[0400] The above-mentioned second optical deflection device can be used in a laser radar system using all-solid-state scanning, as an optical deflection structure to achieve full-field coverage scanning, thereby improving the detection distance and increasing the transmission power per unit field of view angle. The second optical deflection device 200 can further deflect the light beam emitted by the first optical deflection device 100, the first optical deflection device 100 performs fine deflection on the light beam, and the second optical deflection device performs coarse deflection. The first optical deflection device can also adopt an optical phased array (OPA), an acousto-optic deflector (AOD), an electro-optical deflection device (EOD), etc. Since the deflection angle of these deflection devices is only about 2-3 degrees, the second optical deflection device 200 is required to further expand the deflection angle or deflect in different directions to achieve coverage of the field of view area. The second optical deflection device 200 can adopt a liquid crystal optical deflection device.

[0401] In some optional embodiments, the light deflection unit 210, for example but not limited to, uses a liquid crystal polarization grating, which can deflect the outgoing light to a predetermined angle without amplifying the divergence angle of the incident light, and the angle range can be up to plus or minus tens of degrees, so it is very suitable for expanding the scanning field of view. It can only deflect discrete angles and has a slow response speed, so the present application adopts a partitioning method for angle switching adjustment. Each light deflection unit 210 can deflect left-handed and right-handed circularly polarized light to two different angles, corresponding to the +1 and -1 diffraction order angles of the liquid crystal grating. By cascading N light deflection units 210, 2 N Deflection of light at discrete angles.

[0402] The light deflection unit 210 includes a liquid crystal half-wave plate 214 and a liquid crystal polarization grating (LCPG) plate 216; the liquid crystal half-wave plate 214 includes electrodes disposed on two opposite sides and a half-wave plate liquid crystal layer 215 disposed between the electrodes on the two sides.

[0403] One side electrode of the liquid crystal half-wave plate 214 includes a plurality of first electrode blocks 211, and the other side electrode is a first whole electrode 213, each deflection sub-partition corresponds to at least one first electrode block 211; each deflection sub-partition 2121 includes a portion on the liquid crystal half-wave plate 214 corresponding to the position of at least one first electrode block 211, and a portion on the liquid crystal polarization grating 216 corresponding to the position of at least one first electrode block 211; or

[0404] Both electrodes on both sides of the liquid crystal half-wave plate 214 include a plurality of first electrode segments 211. Two opposite first electrode segments 211 form a first electrode pair 2110, and each rotor sub-region 2121 corresponds to at least one first electrode pair 2110; each rotor sub-region 2121 includes a portion of the liquid crystal half-wave plate 214 corresponding to the position of at least one first electrode pair 2110 and a portion of the liquid crystal polarization grating 216 corresponding to the position of at least one first electrode pair 2110;

[0405] Among them, the deflection angle of the corresponding rotor sub-region 2121 for the light beam is adjusted by changing the voltage applied to the electrodes corresponding to the rotor sub-region 2121 in the liquid crystal half-wave plate 214.

[0406] That is to say, electrodes are provided on the liquid crystal half-wave plate 214 in the light deflection unit 210. The electrodes can be segmented on one side or on both sides. The liquid crystal polarization grating 216 can be provided with electrodes or not. The following describes these two cases separately.

[0407] In some alternative embodiments, the liquid crystal polarization grating 216 is a passive liquid crystal deflection grating without electrodes. The light deflection unit 210 changes the deflection direction of the light beam passing through the passive liquid crystal deflection grating by adjusting the voltage applied to the electrodes on both sides of the liquid crystal half-wave plate 214. The rotor sub-regions 2121 of the light deflection unit 210 can be realized by making the electrodes on one side or both sides of the liquid crystal half-wave plate 214 into a segmented structure, and the required voltages can be applied to each electrode segment respectively, so that the deflection angles of each rotor sub-region 2121 can be independently adjusted.

[0408] For the case where the electrodes on one side are made into a segmented structure, see Figure 14a as shown. One side electrode of the liquid crystal half-wave plate 214 includes a plurality of first electrode segments 211, and the other side electrode is a first integral electrode 213. Each rotor sub-region 2121 corresponds to at least one first electrode segment 211. Each rotor sub-region 2121 includes a portion of the liquid crystal half-wave plate 214 corresponding to the position of at least one first electrode segment and a portion of the liquid crystal polarization grating 216 corresponding to the position of at least one first electrode segment 211. The corresponding portion in position refers to the portion that is directly opposite in position. See Figure 14aAs shown by the dashed box, the part corresponding to the position of at least one first electrode block 211 refers to the part on the liquid crystal polarization grating sheet 216 that is in the same dashed box as at least one first electrode block 211. In this case, each first electrode block 211 corresponds to a rotor sub-region 2121. Alternatively, multiple first electrode blocks 211 may correspond to a rotor sub-region 2121. The multiple first electrode blocks 211 include the case of two or more first electrode blocks 211. The multiple first electrode blocks 211 may be arranged in a regular array, such as, but not limited to, a one-dimensional or two-dimensional array arrangement, or may be arranged in an irregular array.

[0409] For the case where the electrodes on both sides are made into a segmented structure, refer to Figure 14b As shown, the electrodes on both sides of the liquid crystal half-wave plate 214 each include multiple first electrode blocks 211. Two opposite first electrode blocks form an electrode pair, and each rotor sub-region 2121 corresponds to at least one electrode pair; each rotor sub-region includes the part on the liquid crystal half-wave plate 214 corresponding to the position of at least one electrode pair and the part on the liquid crystal polarization grating sheet 216 corresponding to the position of at least one electrode pair. The corresponding part in terms of position refers to the part that is directly opposite in position. Refer to Figure 14b As shown by the dashed box, the part corresponding to the position of at least one electrode pair refers to the part on the liquid crystal polarization grating sheet 216 that is in the same dashed box as at least one electrode pair. Figure 14b In [the figure], the electrode blocks provided correspondingly on both sides of the liquid crystal half-wave plate 214 are directly opposite to each other. However, these corresponding partition electrodes may not be strictly directly opposite, and it is also acceptable if there is a slight misalignment between them. In this case, each electrode pair corresponds to a rotor sub-region 2121. Alternatively, multiple electrode pairs may correspond to a rotor sub-region 2121. The multiple electrode pairs include the case of two or more electrode pairs. The multiple first electrode blocks 211 on each side of the electrode may be arranged in a regular array, such as, but not limited to, a one-dimensional or two-dimensional array arrangement, or may be arranged in an irregular array.

[0410] Among them, the deflection angle of the light beam by the corresponding rotor sub-region 2121 is adjusted by changing the voltage applied to the electrode in the liquid crystal half-wave plate 214 corresponding to the rotor sub-region 2121.

[0411] In some alternative embodiments, the optical deflection unit 210 includes a liquid crystal half-wave plate 214 and a liquid crystal polarization grating plate 216. The liquid crystal half-wave plate 214 includes electrodes disposed oppositely on two sides and a liquid crystal layer disposed between the two electrodes on both sides; the liquid crystal polarization grating plate 216 is an active liquid crystal polarization grating plate, and the active liquid crystal polarization grating plate 216 includes electrodes disposed oppositely on two sides and a grating liquid crystal layer 2164 disposed between the two electrodes on both sides. The control device 600 needs to correspondingly adjust the voltages applied to the electrodes of the liquid crystal half-wave plate 214 and the electrodes of the active liquid crystal polarization grating plate 216 to change the deflection angle of the passing light beam; the deflection sub-region 2121 of the optical deflection unit 210 can be realized by making one or both sides of the electrodes of the liquid crystal half-wave plate 214 into a segmented structure and making one or both sides of the electrodes of the liquid crystal polarization grating plate into a segmented structure. Desired voltages can be respectively applied to each electrode segment, so that independent adjustment of the deflection angles of the respective deflection sub-regions 2121 can be achieved. In the optical deflection unit 210, the liquid crystal half-wave plate 214 further includes a first substrate 217 and a second substrate 218 disposed oppositely; the liquid crystal polarization grating plate 216 further includes a third substrate 2161 and a fourth substrate 2162 disposed oppositely.

[0412] The situation where one side electrode of the liquid crystal polarization grating plate 216 is made into a segmented structure is similar to the situation where one side electrode of the above-mentioned liquid crystal half-wave plate 214 is made into a segmented structure, and the situation where both side electrodes of the liquid crystal polarization grating plate 216 are made into a segmented structure is similar to the situation where both side electrodes of the above-mentioned liquid crystal half-wave plate 214 are made into a segmented structure, which will not be elaborated here. It should be noted that:

[0413] In an optical deflection unit 210, it can be selected that both the liquid crystal polarization grating plate 216 and the liquid crystal half-wave plate 214 have one side electrode made into a segmented structure; see Figure 14c As shown, one side electrode of the liquid crystal half-wave plate 214 includes a plurality of first electrode segments 211, and the other side electrode is a first integral electrode 213; one side electrode of the liquid crystal polarization grating plate 216 includes a plurality of second electrode segments 2163, and the other side electrode is a second integral electrode 2165; at least one second electrode segment 2163 on the liquid crystal polarization grating plate 216 and at least one first electrode segment 211 corresponding in position on the liquid crystal half-wave plate 214 form a segment group; each deflection sub-region 2121 corresponds to at least one segment group, that is, each deflection sub-region 2121 corresponds to at least one first electrode segment 211 of the liquid crystal half-wave plate 214, and also corresponds to at least one second electrode segment 2163 of the liquid crystal polarization grating plate 216. Each deflection sub-region 2121 includes the part of the liquid crystal half-wave plate 214 corresponding to the position of the segment group and the part of the liquid crystal polarization grating plate 216 corresponding to the position of the segment group.

[0414] In an optical deflection unit 210, it is possible to select that both the liquid crystal polarization grating sheet 216 and the liquid crystal half-wave plate 214 have segmented electrode structures on both sides. Refer to Figure 14d As shown, both sides of the liquid crystal half-wave plate 214 include a plurality of first electrode segments 211. Two opposite first electrode segments 211 on the liquid crystal half-wave plate 214 form a first electrode pair 2110; both sides of the liquid crystal polarization grating sheet 216 include a plurality of second electrode segments 2163. Two opposite second electrode segments 2163 on the liquid crystal polarization grating sheet 216 form a second electrode pair 2160; at least one second electrode pair 2160 on the liquid crystal polarization grating sheet 216 and at least one first electrode pair 2110 corresponding in position on the liquid crystal half-wave plate 214 form a segmented group; each rotor sub-region 2121 corresponds to at least one segmented group, that is, each rotor sub-region 2121 corresponds to at least one first electrode pair 2110 of the liquid crystal half-wave plate 214, and also corresponds to at least one second electrode pair 2160 of the liquid crystal polarization grating sheet 216. Each rotor sub-region 2121 includes the part of the liquid crystal half-wave plate 214 corresponding to the position of the segmented group and the part of the liquid crystal polarization grating sheet 216 corresponding to the position of the segmented group.

[0415] In an optical deflection unit 210, it is possible to select that one side electrode of the liquid crystal polarization grating sheet 216 has a segmented structure, and both sides of the liquid crystal half-wave plate 214 have a segmented structure. Two opposite first electrode segments on the liquid crystal half-wave plate form a first electrode pair. At least one second electrode segment on the liquid crystal polarization grating sheet 216 and at least one first electrode pair corresponding in position on the liquid crystal half-wave plate 214 form a segmented group; each rotor sub-region 2121 corresponds to at least one segmented group, that is, each rotor sub-region 2121 corresponds to at least one first electrode pair of the liquid crystal half-wave plate 214, and also corresponds to at least one second electrode segment of the liquid crystal polarization grating sheet 216. Each rotor sub-region 2121 includes the part of the liquid crystal half-wave plate 214 corresponding to the position of the segmented group and the part of the liquid crystal polarization grating sheet 216 corresponding to the position of the segmented group.

[0416] In an optical deflection unit 210, the electrodes on both sides of the liquid crystal polarization grating sheet 216 can be selected to be made into a segmented structure, the electrode on one side of the liquid crystal half-wave plate 214 is made into a segmented structure, two opposite second electrode segments on the liquid crystal polarization grating sheet 216 form a second electrode pair, and at least one second electrode pair on the liquid crystal polarization grating sheet 216 and at least one first electrode segment corresponding in position on the liquid crystal half-wave plate 214 form a segmented group; each rotor sub-zone 2121 corresponds to at least one segmented group, that is, each rotor sub-zone 2121 corresponds to at least one first electrode segment of the liquid crystal half-wave plate 214 and also corresponds to at least one second electrode pair of the liquid crystal polarization grating sheet 216. Each rotor sub-zone 2121 includes a part of the liquid crystal half-wave plate 214 corresponding to the position of the segmented group and a part of the liquid crystal polarization grating sheet 216 corresponding to the position of the segmented group.

[0417] Wherein, the deflection angle of the corresponding rotor sub-zone 2121 for the light beam is adjusted by changing the voltage applied to the electrode corresponding to the rotor sub-zone 2121 in the liquid crystal half-wave plate 214 and the voltage applied to the electrode corresponding to the rotor sub-zone 2121 in the liquid crystal polarization grating sheet 216.

[0418] It should be noted that for the case where the second optical deflection device 200 includes at least two optical deflection units 210, the rotor sub-zones 2121 on each of the at least two different optical deflection units 210 are arranged corresponding to each other. In this case, a plurality of rotor sub-zones 2121 corresponding in position and capable of forming a deflection optical path belonging to different optical deflection units 210 can be adjusted simultaneously during the deflection angle adjustment. At this time, it is necessary to adjust the voltages applied to these plurality of rotor sub-zones 2121 respectively to achieve this.

[0419] From another perspective, a plurality of rotor sub - partitions 2121 corresponding to positions belonging to different light deflection units 210 can form a deflection optical path. It can also be understood as a deflection partition 212 that can be structurally disassembled from each other. Each deflection partition 212 has a unified deflection angle for the light beam and can independently adjust the deflection angle of the light beam as a whole. The plurality of deflection partitions 212 are arranged in sequence according to the deflection direction of the light beam with the first deflection angle. That is to say, the deflection partition includes rotor sub - partitions corresponding to positions in at least one light deflection unit; the rotor sub - partitions 2121 in at least one light deflection unit 210 included in a deflection partition 212 can form a deflection optical path. When a deflection partition 212 includes one light deflection unit 210, the rotor sub - partitions 2121 in this one light deflection unit 210 can form a deflection optical path. When a deflection partition 212 includes two light deflection units, the rotor sub - partitions 2121 in these two light deflection units 210 can form a deflection optical path. When a deflection partition 212 includes a plurality of light deflection units 210, the rotor sub - partitions 2121 in these plurality of light deflection units can form a deflection optical path.

[0420] Optionally, in front of the first - layer liquid - crystal half - wave plate, a quarter - wave plate can be set to change the polarization state of the incident light beam, changing the linearly polarized light emitted from the first light deflection device 100 into circularly polarized light.

[0421] The electrodes are, for example but not limited to, ITO electrodes. The shape and arrangement of the electrode blocks depend on the shape of the light beam to be deflected and the change in its scanning position on the light deflection unit 210. The incident light beam is a long - strip - shaped light beam with its length direction set along the second direction and scans along the first direction on the light deflection unit 210. Correspondingly, the electrode blocks are also long - strip - shaped with their length direction set along the second direction, and a plurality of electrode blocks are also arranged in parallel along the first direction. Different electrode blocks are separated from each other, so that voltages can be independently applied to control the arrangement state of the corresponding liquid - crystal molecules in the partition.

[0422] Theoretically, in the same light deflection device, the liquid - crystal half - wave plates 214 belonging to different light deflection units 210 can also have different ITO electrode structures respectively. For example, the electrode structure of the liquid - crystal half - wave plates 214 of some light deflection units 210 is divided into two - side partitions, and the electrode structure of the liquid - crystal half - wave plates 214 of another part of the light deflection units 210 is divided into one - side partition with one side not partitioned. The liquid - crystal polarization grating plates 216 belonging to different light deflection units can also have different ITO electrode structures respectively. For example, the electrode structure of the liquid - crystal polarization grating plates 216 of some light deflection units 210 is divided into two - side partitions, and the electrode structure of the liquid - crystal polarization grating plates 216 of another part of the light deflection units 210 is divided into one - side partition with one side not partitioned.

[0423] SeeFigure 14a , 14b As shown in FIGS. 14c and 14d, the liquid crystal half-wave plate 214 may further include a first substrate 217 and a second substrate 218 which are oppositely arranged, and electrodes on both sides are respectively arranged on the inner surfaces of the first substrate 217 and the second substrate 218 facing each other. The inner surfaces are, for example, flat surfaces. The liquid crystal polarization grating sheet 216 further includes a third substrate 2161 and a fourth substrate 2162 which are oppositely arranged, and electrodes on both sides are respectively arranged on the inner surfaces of the third substrate 2161 and the fourth substrate 2162 facing each other. The inner surfaces are, for example, flat surfaces.

[0424] In some alternative embodiments, all the liquid crystal polarization grating sheets 216 of the light deflection units 210 in the second light deflection device 200 are passive liquid crystal polarization grating sheets, or all the liquid crystal polarization grating sheets 216 of the light deflection units 210 in the second light deflection device 200 are active liquid crystal polarization grating sheets, or some of the liquid crystal polarization grating sheets 216 of the light deflection units 210 in the second light deflection device 200 are passive liquid crystal polarization grating sheets and some of the liquid crystal polarization grating sheets 216 of the light deflection units 210 are active liquid crystal polarization grating sheets; the liquid crystal material of the liquid crystal layer may be, for example but not limited to, nematic liquid crystal or blue phase liquid crystal.

[0425] Taking the passive liquid crystal polarization grating sheet as an example, the passive liquid crystal polarization grating sheet does not need to apply a voltage to change the liquid crystal arrangement during operation. By selecting whether to apply a voltage to the liquid crystal half-wave plate 214, the polarization state of the passing beam can be changed, thereby controlling the deflection direction of the beam passing through the passive liquid crystal polarization grating sheet. The deflection angle of the passive liquid crystal polarization grating sheet for the beam is preset. The left-handed polarization component and the right-handed polarization component of the incident beam will be deflected towards the positive first-order diffraction direction and the negative first-order diffraction direction of the liquid crystal polarization grating sheet. The included angles of these two diffraction directions with respect to the incident direction are equal in magnitude and opposite in deflection direction. Thus, by combining light deflection units with different beam deflection angles and applying corresponding voltages to the liquid crystal half-wave plate, deflections of the passing beam at multiple different preset angles can be achieved.

[0426] For each incident light beam with a first deflection angle that varies in the first direction emitted by the first light deflection device 100, as the light beam starts to scan, the voltage applied to the scanned deflection partitions in the second light deflection device 200 is sequentially changed synchronously, and the liquid crystal molecule arrangement in the scanned deflection partitions is switched to the state required for the next light beam deflection angle. Thus, each deflection partition 212 can utilize the gap when the first light deflection device 100 deflects the light beam in the first direction to scan other deflection partitions to switch the liquid crystal arrangement state. When the light beam deflected by the first light deflection device 100 scans the last deflection partition of the second light deflection device 200 within the deflection period, the liquid crystal molecule arrangement in the first deflection partition to be scanned in the next deflection period has been switched to the state required for the next light beam deflection angle. Therefore, at this time, the first light deflection device 100 can be immediately controlled to deflect the light beam in the first direction to the first deflection partition to be scanned to start the scan of the next deflection period without waiting. It can also be understood that the liquid crystal half-wave plate can update the liquid crystal arrangement state in real time and in a partitioned manner along the scanning direction of the light beam on it according to a preset frequency to complete the seamless switching of the light beam deflection angle.

[0427] See Figure 15a Shown is a structural example of the second light deflection device 200 using a passive liquid crystal polarization grating sheet. In the second light deflection device 200, each light deflection unit 210 adopts binary cascading. A plurality of light deflection units are arranged in sequence along the propagation direction of the light beam, and the deflection angles of the light beam passing through are incremented step by step in powers of two in the arranged order. That is, the first light deflection unit closest to the light incident side has the smallest deflection angle for the light beam passing through, while the last light deflection unit farthest from the light incident side and closest to the light output side has the largest deflection angle for the light beam passing through. Assuming that the deflection angle of the first light deflection unit for the light beam passing through is r, then the deflection angles of the N light deflection units 210 arranged in sequence along the light output direction for the light beam passing through are ±r, ±2r, ±4r, …, ±2 N-1 r. Correspondingly, the entire second light deflection device 200 including N light deflection units can deflect the passing light beam by preset deflection angles of ±r, ±3r, ±5r, …, ±(2 N-1)·r. It can be seen that the beam deflection angle that the second light deflection device 200 can provide is an odd multiple of the minimum deflection angle r of the beam passing through a single light deflection unit, and the maximum value of the odd number is 2^N - 1, where N is the number of light deflection units included in the second light deflection device 200. The angular interval between adjacent preset deflection angles is 2r. That is, the multiple preset deflection angles of the beam by the second light deflection device 200 are distributed in an arithmetic progression according to the preset angular interval. The deflection accuracy of the beam passing through is 2r, and the angular interval can be regarded as the angular tolerance of the arithmetic progression. Thus, the relational expression between the second deflection angle range Ψ of the beam passing through the binary cascaded light deflection unit 210 and the total number M of different deflection angles that can be provided is:

[0428] Ψ = (2 N -1)·r

[0429] M = 2 N

[0430] where r is the minimum deflection angle of the beam passing through among the N light deflection units, and N is the total number of the light deflection units 210 in the second light deflection device 200.

[0431] During use, the polarization state of the beam incident on the passive liquid crystal polarization grating 216 in the light deflection unit 210 can be selected by applying a voltage to the liquid crystal half-wave plate 214 in the light deflection unit 210, so as to correspondingly control the diffraction deflection direction of the beam when passing through the passive liquid crystal polarization grating 216. For example, if the beam deflects in the positive first-order diffraction direction when passing through the passive liquid crystal polarization grating 216 after passing through the liquid crystal half-wave plate 214 applied with a saturation voltage, then the beam will deflect in the negative first-order diffraction direction when passing through the passive liquid crystal polarization grating 216 after passing through the unapplied voltage liquid crystal half-wave plate 214. Since the polarization state of the beam will also be changed while being diffracted by the passive liquid crystal polarization grating 216, if it is necessary to continue deflecting in the same diffraction order in the next light deflection unit 210, the voltage applied to the liquid crystal half-wave plate 214 in the next light deflection unit 210 needs to be turned off so that the liquid crystal half-wave plate 214 changes the polarization state of the passing beam back to the polarization state before the previous deflection; if it is necessary to deflect in the opposite diffraction order in the next light deflection unit 210, a saturation voltage needs to be applied to the liquid crystal half-wave plate 214 in the next light deflection unit 210 so that it does not change the polarization state of the passing beam.

[0432] Figure 15bSchematic diagram of the relationship between the voltage control of the binary cascaded optical deflection unit 210 and the deflection angle of the one-dimensional deflection of the passing light beam. The shaded area in the figure indicates that the saturated voltage is applied to the corresponding liquid crystal half-wave plate 214, and at this time, the liquid crystal half-wave plate 214 does not change the polarization state of the passing light beam. The white area indicates that the saturated voltage applied to the liquid crystal half-wave plate 214 is turned off, and the corresponding liquid crystal half-wave plate 214 will change the polarization state of the passing light beam. Since all the liquid crystal polarization grating plates are passive, no voltage can be applied to all the passive liquid crystal polarization grating plates 216, and they will deflect the passing light beam in the corresponding direction of positive or negative first-order diffraction by a preset angle according to the polarization state of the passing light beam. Figure 15b Exemplarily, it is given that the second optical deflection device includes 4 optical deflection units adopting binary cascading. Each optical deflection unit includes a liquid crystal half-wave plate and a passive liquid crystal polarization grating plate, and in the order along the light beam exit direction, they are: the first optical deflection unit includes liquid crystal half-wave plate I and passive liquid crystal polarization grating plate I, the second optical deflection unit includes liquid crystal half-wave plate II and passive liquid crystal polarization grating plate II, the third optical deflection unit includes liquid crystal half-wave plate III and passive liquid crystal polarization grating plate III, and the fourth optical deflection unit includes liquid crystal half-wave plate IV and passive liquid crystal polarization grating plate IV. Moreover, the passive liquid crystal polarization grating plates I-IV have the same grating vector direction. Among them, the deflection angles of the passive liquid crystal polarization grating plates I-IV for the light beam increase successively in powers of two of natural numbers, and the value of the natural number is the serial number of the optical deflection unit where it is located minus one, corresponding to r, 2r, 4r, and 8r. In practical applications, the deflection angle of each liquid crystal polarization grating plate for the light beam can be selected according to needs.

[0433] See Figure 15a and Figure 15bAs shown, the reference frame is established with the horizontally incident light beam at 0 degrees, positive angles for left deflection, and negative angles for right deflection. If the polarization state of the light beam when it enters the second light deflection device 200 causes the passive liquid crystal polarization grating to deflect the light beam in the direction of positive first-order diffraction, and the light beam is desired to obtain a deflection angle of +r after passing through the entire second light deflection device, then the voltage applied to the liquid crystal half-wave plate I should be turned off, so that the polarization state of the light beam passing through the liquid crystal half-wave plate I is first changed. In this way, the passive liquid crystal polarization grating I will deflect the passing light beam by -r and at the same time change the polarization state of the light beam back to the polarization state at the time of incidence. Since it is then necessary to cause the passive liquid crystal polarization grating II and the passive liquid crystal polarization grating III to deflect the light beam in the directions of -2r and -4r respectively, the voltages applied to the liquid crystal half-wave plate II and the liquid crystal half-wave plate III should be turned off correspondingly to allow the polarization state of the light beam to be changed before entering the corresponding passive liquid crystal polarization grating II and passive liquid crystal polarization grating III. Finally, a saturation voltage is applied to the liquid crystal half-wave plate IV to maintain the polarization state of the light beam at the time of incidence after passing through the passive liquid crystal polarization grating III. In this way, the light beam can be deflected back by +8r in the opposite direction to the previous one when passing through the passive plate IV to finally obtain a deflection direction of r. By analogy, the second light deflection device 200 can also deflect the passing light beam by other preset deflection angles through the voltage application method as shown in Figure 15b For example, the angles of 3r, 5r, 7r, 9r, 11r, 13r, 15r, -r, -3r, -5r, -7r, -9r, -11r, -13r, -15r in the figure. By changing the voltage application conditions of the liquid crystal half-wave plates I-IV to adjust the polarization state of the light beam before entering the corresponding passive liquid crystal polarization gratings I-IV, through the cooperation of the four light deflection units 210, it is possible to deflect the light beam by 16 different deflection angles. It can be understood that to achieve different numbers of deflection angles, it can be achieved by setting different numbers of light deflection units 210.

[0434] Figure 15c It is a schematic diagram of the voltage control of the binary cascaded light deflection unit 210 and the relationship between the deflection angles of the two-dimensional deflection of the passing light beam. Different from Figure 15b in that, Figure 15b in the four deflection units deflect the light beam in the same direction, such as the horizontal direction or the vertical direction, Figure 15c in the four deflection units, one deflection unit deflects the light beam in the first direction, and three deflection units deflect the light beam in the second direction. Here, p represents the minimum deflection angle of the passing light beam in the vertical direction, and h represents the minimum deflection angle of the passing light beam in the horizontal direction. With the cooperation of the four deflection units, it is possible to deflect the light beam by two deflection angles in the vertical direction and eight deflection angles in the horizontal direction. For example, Figure 15cThe angles (-p, h), (p, h), (-p, 3h), (p, 3h), (-p, 5h), (p, 5h), (-p, 7h), (p, 7h), (-p, -7h), (p, -7h), (-p, -5h), (p, -5h), (-p, -3h), (p, -3h), (-p, -h), (p, -h) shown in

[0435] If an active liquid crystal polarization grating is used, the difference is that: a passive liquid crystal polarization grating does not require a voltage to be applied during operation. When using a passive liquid crystal polarization grating, only by applying a corresponding voltage to the liquid crystal half-wave plate can the deflection of the light beam be achieved during operation, with a fast response speed and a simple driving program; an active liquid crystal polarization grating requires corresponding voltages to be applied for different deflection angles during operation. When using an active liquid crystal polarization grating, the voltages applied to the liquid crystal half-wave plate and the active liquid crystal polarization grating in the light deflection unit 210 of the second light deflection device need to be adjusted separately for different deflection angles. When using an active liquid crystal polarization grating, the voltages applied to both the liquid crystal half-wave plate and the active liquid crystal polarization grating in the light deflection unit 210 of the second light deflection device can be changed. By changing the applied voltages, different deflection angles can be achieved, which will not be elaborated here.

[0436] In some alternative embodiments, in the above-mentioned second light deflector 200, the adjustment time of the deflection angle of the incident light beam by the deflection zone adjustment is not greater than the time interval between two adjacent deflection periods of the deflection zone scanned by the incident light beam. In order to ensure that each deflection zone has sufficient time for deflection angle adjustment, the number of deflection zones can be reasonably set within the duration range of the deflection period. This is because when the number of deflection zones is too small, it cannot be guaranteed that the time interval between two adjacent deflection periods of each deflection zone scanned by the incident light beam is sufficient to complete the deflection angle adjustment. Therefore, the number of deflection zones is determined according to the number of second deflection angles deflected by the second light deflector 200, the time required for the second light deflector 200 to deflect the light beams with multiple different first deflection angles into multiple different second deflection angles, and the adjustment time required for the second light deflector 200 to complete one deflection angle adjustment. Or rather, the number of deflection zones can be set according to the number of deflection angles of the second light deflector, the required frame rate, and the time required for the second light deflector to complete one deflection angle adjustment, so as to ensure that within the time interval between two scans of the deflection zone, the deflection angle adjustment can be completed while meeting the required frame rate. Specifically, the number D of the deflection zones 212 is an integer greater than or equal to 2 / (1 - FMT), where M is the number of deflection angles of the second light deflector 200, F is the frame rate at which the second light deflector 200 deflects through a round of M deflection angles, and T is the time required for the second light deflector 200 to complete one deflection angle adjustment. Of course, setting the number of deflection zones according to this formula is a preferred method, which can enable each deflection zone not to wait and can complete the angle change adjustment by using the scanning gap. Even if the set number is a little less, it can also reduce the waiting time to a certain extent.

[0437] The response speed of the liquid crystal half-wave plate 214 is about in the order of several milliseconds. The system is in an inoperative state during the adjustment of the liquid crystal switch state. To meet the requirement of the 10 Hz frame rate for light scanning, one traversal of all scanning angles needs to be completed within 100 ms. Therefore, to ensure the scanning efficiency of the system, after adopting the method of dividing the ITO electrode layer of the liquid crystal half-wave plate into blocks, or after adopting the method of dividing the ITO electrode layers of the liquid crystal half-wave plate and the liquid crystal polarization grating into blocks. When the light beam scans, the light beam is incident on one electrode block, and at this time, the other electrode blocks not incident by the light beam can be adjusted to change the phase delay amount.

[0438] Taking the example that the first light deflector 100 deflects the emitted light beam in the vertical direction. Assume that the liquid crystal response time is S ms, and the N light deflector units combined need to deflect multiple discrete angles in total. Then at this time, each light deflector unit needs to be divided into D deflection zones along the vertical direction. Refer to Figure 16 、 Figure 17 、 Figure 18As shown, at the beginning of a frame (with a duration of 100 ms), the light beam is incident on the first deflection partition, and the beam width in the vertical direction is designed to be the width of one deflection partition. The first light deflection device 100 deflects the light beam quasi-continuously downward by an angle, and the light beam starts to enter the second deflection partition. At this time, the first and second deflection partitions are in the "scanning" state, and the state of the liquid crystal molecules therein cannot be adjusted, while the remaining K - 2 layers are in the "non-scanning" state. When the light beam leaves the first deflection partition and starts to enter the third deflection partition, the first deflection partition enters the "non-scanning" state, while the second and third deflection partitions are in the "scanning" state. According to the above rules, when the light beam is incident on the Dth deflection partition, one deflection cycle is completed. At this time, the first light deflection device 100 deflects the light beam to be incident on the first deflection partition, starting the second deflection cycle. Multiple deflection cycles are required within one frame, and in each deflection cycle, the second light deflection device 200 deflects the light to one of multiple discrete angles.

[0439] See Figure 16 、 Figure 17 、 Figure 18 As shown, in some embodiments, the light deflection unit 210 is divided into 1 - D parallel - arranged deflection partitions. Corresponding to each second deflection angle, the incident light beams with different first deflection angles scan from the first partition to the Dth deflection partition in the vertical direction. After the light beam deflected by the first light deflection device 100 leaves the first deflection partition and scans the second deflection partition, the scanned first deflection partition can start to change the voltage applied to the first deflection partition through the independently - arranged ITO electrode blocks corresponding thereto, so as to switch the arrangement state of some liquid crystal molecules corresponding to the first deflection partition to the arrangement state of liquid crystal molecules required for the next second deflection angle. That is to say, during the process that the incident light beam scans from the second deflection partition to the Dth deflection partition, the arrangement state of some liquid crystal molecules corresponding to the first deflection partition can be synchronously changed through the corresponding ITO electrode blocks, and the whole process is sufficient to complete the change of the arrangement state of some liquid crystal molecules in the first deflection partition. Thus, for one second deflection angle, when the incident light beam with the first deflection angle has scanned from the first deflection partition to the Dth deflection partition, the arrangement state of some liquid crystal molecules corresponding to the first deflection partition has completed the change required for the next second deflection angle, and the incident light beam can immediately and seamlessly start scanning the next second deflection angle from the first deflection partition again.

[0440] For example, to meet the scanning frame rate of 10HZ, for Figure 2 and Figure 3It takes 100 ms to complete one scan for all 16 second deflection angles. The scanning time for each second deflection angle is 100 / 16 = 6.25 ms. The optical deflection unit is divided into 10 deflection sub-regions, so the scanning time for each deflection sub-region is 6.25 / 10 = 0.625 ms. As described above, during the scanning of the current deflection sub-region and the next deflection sub-region, the liquid crystal state of the deflection sub-region cannot change. Therefore, for a deflection sub-region, the time for adjusting the deflection angle is 6.25 - 2*0.625 = 5 ms. This period of time is equal to the adjustment time of the liquid crystal state during the switching to the next deflection angle. Therefore, 5 ms can meet the requirement of seamless switching of the deflection angle.

[0441] In the above description, it is described by taking the example that within one deflection period, the light beam scans each deflection sub-region from top to bottom in sequence, and in the next deflection period, the light beam still scans each deflection sub-region from top to bottom in sequence. In practical applications, the scanning can be performed not in such an order, and the scanning order can be randomly adjusted. For example, the light beam may not be incident in sequence from top to bottom. In addition, within one deflection period, the second deflection angles of each light beam can be the same or different, as long as the entire field of view can be covered finally.

[0442] In the above second optical deflection device 200, the optical deflection unit is divided into D sub-deflection regions along the first direction. The size of the optical deflection unit 210 in the first direction is greater than D*d_v, where d_v is the size of the light beam in the first direction at this time. Correspondingly, the size of the optical deflection unit in the second direction needs to satisfy including the size of the light beam in the second direction here.

[0443] In addition to using LCPG, the above second optical deflection device 200 can also use other suitable optical deflection devices that can achieve coarse deflection of the light beam. As long as the optical deflection device is divided into multiple deflection sub-regions 212 and the deflection angle of the light beam for each deflection sub-region can be adjusted separately, it conforms to the inventive concept of this utility model application. The second optical deflection device 200 is usually relatively thin. Therefore, when the incident light beam is incident on the optical deflection device, the light beam path will not be affected by the thickness of the optical deflection device and can be approximately direct.

[0444] In some alternative embodiments, the second light deflector 200 further includes a temperature regulator 240 configured to change the temperature of the second light deflector 200 to change the time for the second light deflector 200 to adjust the deflection angle. To ensure the normal operation of the liquid crystal molecular material in the liquid crystal polarization grating sheet of the second light deflector, it is necessary to control the temperature of the second light deflector 200 within a certain temperature range. The temperature regulator can be used to control the temperature of the second light deflector 200 within the preset temperature range. In addition, at different temperatures, the speed of the liquid crystal molecules to adjust their states is different, so that the time for each deflection zone to adjust the deflection angle is also different. Therefore, the time for the deflection zone to adjust the deflection angle can be changed by changing the temperature of the second light deflector 200.

[0445] In the above-described second light deflector 200 with a partitioned structure, during the process of the change in the incident position caused by the change in the first deflection angle of the incident light beam, the arrangement of the liquid crystal molecules in the scanned deflection zones can be synchronously refreshed to the state required for the next second deflection angle by changing the applied voltage, so that the switching of the deflection angle of the light beam can be seamlessly connected without waiting. For the existing LCPG module, since a uniform voltage is applied to the entire ITO electrode on the liquid crystal half-wave plate, when the LCPG module needs to switch the deflection angle of the light beam, the voltage applied to the ITO electrode of the liquid crystal half-wave plate needs to be correspondingly changed. This process requires waiting for the change in the arrangement state of the liquid crystal molecules, which takes a long time. Therefore, in the above process of switching the deflection angle, the entire system of the existing LCPG module can only wait and cannot perform scanning detection.

[0446] In some alternative embodiments, the incident light beam can be a bar-shaped light beam, and the second light deflector 200 is configured to: when the incident light beam is a bar-shaped light beam, deflect incident light beams with multiple different first deflection angles to the same second deflection angle, so as to complete the scanning of a corresponding scanning zone in the field of view; deflect each of the light beams with different first deflection angles among the multiple light beams with different first deflection angles to multiple different second deflection angles, so as to complete the scanning of multiple scanning zones corresponding to different second deflection angles. The scanning zone is rectangular, and the length of the light beam after deflecting the second deflection angle is equal to the length of one direction of the scanning zone.

[0447] It can be understood that in some embodiments, when the scanning of the entire field of view area is completed, by configuring the angles and orders of the beams of the first deflection angle and the second deflection angle, the scanning of one scanning area can be completed first, and then the scanning of the next scanning area can be carried out, and so on, until all the scanning areas are scanned. That is, multiple incident beams with different first deflection angles can be deflected by the same second deflection angle within one deflection period to complete the scanning of a corresponding scanning partition in the field of view range; the second deflection angles by which the multiple incident beams with different first deflection angles are deflected in different deflection periods are different, so as to centrally complete the scanning of a corresponding scanning partition within one deflection period; after one scanning partition is completed, the next deflection period scans the next scanning partition; thus, after multiple deflection periods, the scanning of multiple different scanning partitions can be correspondingly completed.

[0448] See Figure 2 As shown, the entire field of view angle can be divided into multiple scanning partitions. Figure 2 Taking 16 scanning partitions as an example, corresponding to 16 grids in the figure. Different deflection partitions of the second light deflection device 200 deflect the received bar-shaped incident light by different second deflection angles and can irradiate different scanning partitions. One second deflection angle corresponds to one scanning partition. After the incident beams with multiple first deflection angles are deflected by the second deflection angle, one scanning partition can be completely covered. 16 second deflection angles can correspond to 16 scanning partitions. See Figure 2 As shown, deflecting 2 second deflection angles in the first direction and 8 second deflection angles in the second direction can achieve the scanning of Figure 2 the 16 scanning partitions shown. Each scanning partition corresponds to one second deflection angle, that is, after the multiple different first deflection angles deflected by the first light deflection device 100 are deflected by the same second deflection angle by the second light deflection device 200, one scanning partition can be covered. Among them, the scanning partition is rectangular, and the length of the bar-shaped beam after deflecting the second deflection angle is equal to the length of one direction of the scanning partition. During actual scanning, within the first deflection period, the beams with multiple first deflection angles can be deflected by the first second deflection angle to complete the scanning of the scanning partition corresponding to the first grid in the first row; within the second deflection period, the beams with multiple first deflection angles can be deflected by the second second deflection angle to complete the scanning of the scanning partition corresponding to the second grid in the first row;...; within the fourth deflection period, the beams with multiple first deflection angles are deflected by the fourth second deflection angle, as Figure 2 shown to complete the scanning of the scanning partition corresponding to the fourth grid in the first row; and so on. Thus, after 16 deflection periods, the scanning of all the scanning partitions corresponding to the 16 grids is completed.

[0449] In some other embodiments, within one deflection period, the second light deflection device 200 deflects incident light beams with multiple different first deflection angles to one of multiple different second deflection angles respectively, and scans partial areas in corresponding scan partitions respectively; wherein, within one deflection period, the second deflection angles by which the incident light beams with multiple different first deflection angles are deflected are the same or different; and the second deflection angles by which the incident light beams with each first deflection angle are deflected in different deflection periods are different. Within one deflection period, each of the incident light beams with multiple different first deflection angles is randomly deflected to one of multiple different second deflection angles, so that within one deflection period, the second deflection angles by which all the incident light beams with first deflection angles are deflected are the same, partially the same and partially different, or completely different from each other. Optionally, within one deflection period, at least two of the incident light beams with multiple different first deflection angles are deflected by different second deflection angles, so that within one deflection period, the second deflection angles by which all the incident light beams with first deflection angles are deflected are partially the same and partially different, or completely different from each other.

[0450] For example: within one deflection period, the deflected light beams incident at different first deflection angles can be respectively deflected to more than two different second deflection angles; in this case, within one deflection period, instead of concentrating on scanning one corresponding scan partition, it scans different positions along the first deflection angle in more than two different scan partitions in a skipping manner; in this way, after multiple deflection periods, the scanning of all the scan partitions can also be completed. For example, in this embodiment, since the light beams formed after being deflected by the second deflection angle correspond to the scan partitions corresponding to different second deflection angles, and the scanned positions are far apart from each other, the mutual crosstalk between two adjacent scans can be reduced.

[0451] See Figure 3As shown, the entire field of view angle can be divided into multiple scanning partitions, and the number of scanning partitions is 16, corresponding to the 16 grids in the figure. Within one deflection period, the second light deflection device 200 can deflect the light beams with multiple first deflection angles by different second deflection angles to alternately scan different scanning partitions. For example, within the first deflection period, the second light deflection device 200 deflects the light beam with the first first deflection angle by the first second deflection angle to scan a small strip area in the first square of the first row; deflects the light beam with the second first deflection angle by the second second deflection angle to scan a small strip area in the second square of the first row;... Within the second deflection period, the second light deflection device 200 deflects the light beam with the first first deflection angle by the first second deflection angle to scan a small strip area in the second square of the first row; deflects the light beam with the second first deflection angle by the second second deflection angle to scan a small strip area in the third square of the first row;... And so on, cross-scanning the scanning areas corresponding to each square. After multiple deflection periods, the scanning of all scanning partitions corresponding to all squares is completed. By adopting this setting method, the two scanning areas corresponding to the scanning within the field of view in two adjacent deflection periods are far apart, and the photosensitive pixels used by the receiving module to sense these two corresponding scanning areas in these two adjacent scanning periods are also correspondingly far apart, which can reduce the crosstalk generated between these photosensitive pixels working successively.

[0452] Compared with the case of using a circular or nearly circular light spot for scanning, using a long strip light beam to scan the field of view range and enabling the first light deflection device (such as an AOD) to deflect the light beam in the width direction of the light beam can greatly reduce the number of deflection angles of the second light deflection device (such as an LCPG) in the first direction and the second direction. For example Figure 2 and Figure 3 as shown, deflecting 16 angles, 8 angles in the horizontal direction and 2 angles in the vertical direction, and the number of deflection angles of the second light deflection device 200 is related to the number of layers it contains (i.e., the number of light deflection units in the light deflection device). Therefore, the number of layers of the second light deflection device 200 can also be reduced. For example, when deflecting 16 angles, the second light deflection device 200 only needs four layers, and the second light deflection device 200 can be made thinner and smaller in size.

[0453] The scanning partition is rectangular, and the length of the strip light beam after deflecting the second deflection angle is equal to the length of one direction of the scanning partition. For example Figure 2 and Figure 3The length of the bar-shaped light beam after being deflected by the second deflection angle in the middle is equal to the length of the scanning partition in the second direction. The long side of the bar-shaped light emitted from the first light deflection device 100 is perpendicular to the light deflection direction of the first light deflection device 100, so that, compared with the block-shaped scanning light, at the same total power, the light beam deflected by the second deflection angle can cover a larger field of view angle. Therefore, the second light deflection device 200 can cover a larger overall field of view by deflecting fewer different angles. This makes the number of layers of the required second light deflection device 200 (that is, the number of light deflection units 210) less, the cost lower, and the response speed faster.

[0454] The above light deflection device 10 can be applied to the field of depth sensing technology, such as but not limited to lidar systems using all-solid-state scanning, as a light deflection structure to achieve full-field coverage scanning, thereby increasing the detection distance and the emission power per unit field of view angle. It can also be used in fields such as high-speed photography, optical engineering, free-space optical communication, non-destructive testing, optical sensing technology, optical multi-mode guidance technology, magneto-optical recording technology, magneto-optical imaging technology, laser display technology, precision optical instruments, etc. The second light deflection device 200 in the light deflection device 10 can further deflect the light beam emitted from the first light deflection device 100. The first light deflection device 100 performs fine deflection on the light beam, and the above second light deflection device 200 performs coarse deflection. The first light deflection device 100 can also adopt an optical phased array (OPA), an acousto-optic deflection device (AOD), an electro-optic deflection device (EOD), etc. Since the deflection angles of these deflection devices are only about 2-3 degrees, the above second light deflection device 200 is required to further increase the deflection angle or deflect in different directions to achieve coverage of the field of view area. The above second light deflection device 200 can adopt a liquid crystal light deflection device.

[0455] In some alternative embodiments, for the above light deflection device 10, its control device 600 can be an independent device, and the control of the first light deflection device 100 and the second light deflection device 200 is achieved through an independent device. The control device 600 can also be discrete devices, as shown in Figure 4 including a first control unit 110 and a second control unit 230;

[0456] The first control unit 110 is configured to control the first light deflection device 100 to deflect multiple different first deflection angles in a time-sharing manner within a deflection cycle, and correspondingly incident the incident light beam of each first deflection angle onto the corresponding deflection partition of the second light deflection device 200; the first control unit 110 can be set separately or integrated with the first light deflection device.

[0457] A second control unit 230 is configured to control multiple deflection partitions 212 to receive an incident light beam in a time-sharing manner and deflect the incident light beam by a second deflection angle required for deflection, and control the deflection partitions 212 to pre-adjust their deflection angles for the light beam before being scanned by the incident light beam; wherein, for at least one deflection partition 212, the deflection angle of the incident light beam is adjusted to the second deflection angle required for the next deflection cycle after the scanning of the incident light beam ends in the current deflection cycle and before the start of the scanning of the incident light beam in the next deflection cycle. The second control unit 230 can be provided separately or integrated with the second light deflection device.

[0458] In some alternative embodiments, the above device further includes a temperature regulator 240 configured to change the time for the second light deflection device 200 to adjust the deflection angle by changing the temperature of the second light deflection device 200. The temperature regulator 240 can be provided separately or integrated with the second light deflection device.

[0459] In the above light deflection device adopting a partitioned structure, during the process of the change in the incident position caused by the change in the first deflection angle of the incident light beam, the liquid crystal molecule arrangement of the scanned deflection partitions can be synchronously refreshed to the state required for the next second deflection angle by changing the applied voltage, so that the switching of the light beam deflection angle can be seamlessly connected without waiting. For the existing LCPG module, since a unified voltage is applied to the entire ITO electrode on the liquid crystal half-wave plate, when the LCPG module needs to switch the deflection angle of the light beam, the voltage applied to the ITO electrode of the liquid crystal half-wave plate needs to be changed accordingly. This process requires waiting for the change in the liquid crystal molecule arrangement state, which takes a long time. Therefore, the entire system of the existing LCPG module can only wait and cannot perform scanning detection during the above process of switching the deflection angle.

[0460] In this embodiment, when the second light deflector adopts a partitioned structure, a beam expanding device is arranged between the first light deflector and the second light deflector to enlarge the deflection angle of the beam deflected by the first light deflector, so that adjacent beams deflected by the first light deflector can be distinguished within the shortest possible distance, so as to irradiate different deflection partitions, thereby shortening the distance between the second light deflector and the first light deflector and making the overall structure of the light deflection device smaller; after the distance between the two-stage light deflectors is reduced by the beam expanding device, after the beam is deflected by the first light deflector, the spot of the beam irradiated on the second light deflector will become smaller as the distance decreases, and the size of the second light deflector can also be smaller, thereby further reducing the overall structure of the light deflection device and meeting the requirements for miniaturization of vehicle-mounted lidar in application scenarios such as intelligent driving; in addition, through the cooperation of the two-stage light deflectors and the beam expanding device, continuous and refined adjustment of the beam deflection angle can be achieved within a larger angle range, and at the same time, the angle interval of the beam deflected by the first light deflector can be made smaller, realizing more refined light scanning and improving the coverage effect of lidar light scanning.

[0461] Embodiment III

[0462] For the light deflection device provided in Embodiment III of the present utility model, see the structural schematic diagram in Figure 19 shown. The difference from the light deflection device provided in Embodiment II is that in this embodiment, the first light deflector 100 can deflect the beam two-dimensionally. Specifically, the first light deflector deflects the incident beam by a plurality of different first deflection angles in at least one of the first direction and the second direction in sequence, and the second light deflector deflects the beam-expanded beam by a plurality of different second deflection angles in the first direction and the second direction.

[0463] In this embodiment, the first light deflector deflects the beam two-dimensionally, and the second light deflector deflects the beam two-dimensionally, which is relatively suitable for the case where the beam emitted by the light source is not a long-strip beam.

[0464] When the first light deflector 100 deflects the beam one-dimensionally in Embodiment II, a strip beam is selected. Taking one scanning partition as an example, the strip beams with a plurality of first deflection angles are deflected by the same second deflection angle to cover one deflection partition.

[0465] In Embodiment III, the first light deflector 100 deflects the beam two-dimensionally, and the beam can be a square, approximately square or circular beam, where the approximately square beam means that the difference between the length and width of the beam does not exceed a preset difference.

[0466] When the first light deflector deflects the beam, the distribution of the beams with a plurality of different first deflection angles deflected by it can be seen in Figure 20As shown, each deflected light beam corresponds to Figure 20 a small square in Figure 20 . Scanning multiple small squares in the first direction and the second direction can cover a scanning area,

[0467] the entire area exemplified in

[0468] . Completing the scanning of multiple scanning areas can cover the entire field of view angle. Figure 20 When the first light deflector 100 realizes two-dimensional deflection, it can be achieved by cooperating two AODs. One AOD realizes the deflection in the first direction, and the other AOD realizes the deflection in the second direction.

[0469] The partitioning method of the second light deflector 200 can adopt the partitioning method in the second embodiment. At this time, Figure 20 the light beams corresponding to the small squares in the first row in Figure 20 all enter a deflection partition, and the deflection angle of the deflection partition can be adjusted when there is no light beam incident.

[0470] Embodiment 4

[0471] The structural schematic diagram of the light deflector provided in the fourth embodiment of the present invention is shown in Figure 21 . The difference from the light deflector provided in the second embodiment is that in this fourth embodiment, the second light deflector 200 does not adopt a partitioned structure. At this time, the light beam deflected by the first light deflector 100 is expanded by the beam expander 500 and then projected to the corresponding position of the second light deflector. Since the second light deflector is not partitioned, in a deflection cycle, the light beams with multiple first deflection angles deflected by the first light deflector in the first direction generally have the same deflected second deflection angle to avoid the waiting time for angle switching. One deflection cycle corresponds to completing the scanning of a scanning area; the next deflection cycle continues to complete the scanning of the next scanning area. Before the next deflection cycle starts after one deflection cycle is completed, it may be necessary to wait for a certain time to complete the adjustment of the deflection angle.

[0472] In this embodiment, the first light deflector deflects the light beam in one dimension, and the second light deflector deflects the light beam in two dimensions, which is relatively suitable for the case where the light beam emitted by the light source is a strip-shaped light beam.

[0473] Optionally, in the fourth embodiment, in order to reduce the waiting time for adjusting the deflection angle, the temperature of the second optical deflection device can be adjusted to accelerate the switching time of the arrangement state of the liquid crystal molecules, or a blue-phase liquid crystal with a faster corresponding speed can be used to accelerate the angle switching time.

[0474] Embodiment Five

[0475] For the optical deflection device provided in the fifth embodiment of the present invention, see the structural schematic diagram in Figure 22 shown. The difference from the optical deflection device provided in the third embodiment is that in this fifth embodiment, the second optical deflection device 200 does not adopt a partitioned structure. At this time, the light beam deflected by the first optical deflection device 100 is expanded by the beam expander 500 and then projected onto the corresponding position of the second optical deflection device. Since the second optical deflection device is not partitioned, in a deflection cycle, the light beams with multiple first deflection angles deflected by the first optical deflection device in the first direction and the second direction have the same deflected second deflection angle, and one deflection cycle corresponds to completing the scanning of one scanning area; the next deflection cycle continues to complete the scanning of the next scanning area. Before the completion of one deflection cycle and the start of the next deflection cycle, it may be necessary to wait for a certain time to complete the adjustment of the deflection angle.

[0476] In this embodiment, the first optical deflection device performs two-dimensional deflection on the light beam, and the second optical deflection device performs two-dimensional deflection on the light beam, which is relatively suitable for the case where the light beam emitted by the light source is not a long-strip light beam.

[0477] Embodiment Six

[0478] For the optical deflection device provided in the sixth embodiment of the present invention, see the structural schematic diagram in Figure 23 shown. The difference from the optical deflection devices provided in the third and fifth embodiments is that in this sixth embodiment, the first optical deflection device 100 can perform two-dimensional deflection on the light beam, and the second optical deflection device 200 performs only one-dimensional deflection on the light beam. Specifically, the first optical deflection device deflects the incident light beam by multiple different first deflection angles in at least one of the first direction and the second direction in sequence, and the second optical deflection device deflects the expanded light beam by multiple different second deflection angles in the first direction or the second direction.

[0479] In this embodiment, the first optical deflection device performs two-dimensional deflection on the light beam, and the second optical deflection device performs one-dimensional deflection on the light beam, which is relatively suitable for the case where the light beam emitted by the light source is not a long-strip light beam.

[0480] When the first optical deflection device 100 realizes two-dimensional deflection, it can be achieved by two AODs, where one AOD realizes the deflection in the first direction and the other AOD realizes the deflection in the second direction.

[0481] The second light deflector 200 may adopt a partitioned structure or a non-partitioned structure. The case where the second light deflector 200 adopts a partitioned structure is similar to that of Embodiment 3, and the case where the second light deflector adopts a non-partitioned structure is similar to that of Embodiment 5.

[0482] See Figure 2 and Figure 3 As shown in

[0483] When the second light deflector 200 deflects the light beam in one dimension, it can deflect the light beam at multiple second deflection angles in the second direction, for example, 8 second deflection angles, corresponding to completing the scanning of 8 scanning partitions in a row. Of course, in order to complete the scanning of the entire field of view area, the deflection angle range of the first light deflector 100 in the first direction and the size of the second light deflector in the first direction can be increased to cover the entire length in the first direction, without the need for the second light deflector 200 to deflect at an angle in the first direction (vertical direction).

[0484] Embodiment 7

[0485] For the light deflector provided in Embodiment 7 of the present utility model, see the structural schematic diagram in Figure 24 shown. The difference between the light deflector provided in this embodiment and the light deflector in Embodiment 2 is that both the first light deflector 100 and the second light deflector 200 are one-dimensional deflectors, and they perform one-dimensional deflection in different directions. For example Figure 24 as shown in

[0486] in which the first light deflector 100 deflects the light beam in the first direction and the second light deflector 200 deflects the light beam in the second direction. Of course, alternatively, the first light deflector 100 can deflect the light beam in the second direction and the second light deflector 200 can deflect the light beam in the first direction.

[0487] In this embodiment, the first light deflector deflects the light beam in one dimension, and the second light deflector deflects the light beam in one dimension, which is relatively more suitable for the case where the light beam emitted by the light source is a strip-shaped light beam.

[0488] The optical deflection device of the seventh embodiment is more suitable for scenarios with relatively small requirements for the field of view angle in the first direction (vertical direction). In such scenarios, using a one-dimensional deflection LCPG module can simplify the structure of the LCPG module and reduce the device cost. The second optical deflection device adopts a partitioned structure, which can also reduce the waiting time for angle switching. When the second optical deflection device adopts a non-partitioned structure, in order to reduce the waiting time for adjusting the deflection angle, the temperature of the second optical deflection device can be adjusted to accelerate the switching time of the arrangement state of liquid crystal molecules, or blue-phase liquid crystal with a faster response speed can be used to accelerate the angle switching time.

[0489] Embodiment Eight

[0490] For the optical deflection device provided by the eighth embodiment of the present utility model, see the structural schematic diagram in Figure 25 as shown. The difference between the optical deflection device provided in the seventh embodiment and the optical deflection device in the second embodiment is that both the first optical deflection device 100 and the second optical deflection device 200 perform one-dimensional deflection, and they perform one-dimensional deflection in the same direction. For example, Figure 25 as shown in, they both deflect the light beam in the first direction. Of course, optionally, they can also both deflect the light beam in the second direction.

[0491] In this embodiment, the first optical deflection device performs one-dimensional deflection on the light beam, and the second optical deflection device performs one-dimensional deflection on the light beam, which is relatively suitable for the case where the light beam emitted by the light source is a strip-shaped light beam.

[0492] For the above optical deflection device, the angle range of the light beam deflected by the first optical deflection device is equal to the angle interval between two adjacent second deflection angles of the second optical deflection device, so as to achieve high-precision deflection of the light beam within a large angle range.

[0493] The optical deflection device of the eighth embodiment is more suitable for scenarios with relatively small requirements for the field of view angle in the first direction (vertical direction) or the second direction (horizontal direction). In such scenarios, using a one-dimensional deflection LCPG module can simplify the structure of the LCPG module and reduce the device cost. The second optical deflection device adopts a partitioned structure, which can also reduce the waiting time for angle switching.

[0494] The optical deflection device provided by the embodiment of the present utility model uses an AOD as a one-dimensional fine scanning device. The AOD requires a high degree of collimation of the incident beam in the optical deflection direction, while the requirement for the collimation of the incident beam perpendicular to the optical deflection direction is relatively low. Therefore, the AOD can make the outgoing beam present as a strip-shaped light that is narrow in the optical deflection direction and wide perpendicular to the optical deflection direction in the far field. This is more in line with the emission characteristics of the current mainstream high-power semiconductor laser sources: the beam parameter product (BPP) of the high-power laser source formed by splicing multiple emission units (such as semiconductor EEL light sources) in the fast axis direction, that is, the product of the beam waist radius and the divergence angle, is much smaller than the BPP in the slow axis direction. After passing through the lens and being collimated and incident on the AOD, in the optical deflection direction A and perpendicular to the optical deflection direction B, it can be respectively collimated into a shape with approximately the same size, and the divergence angle A is much smaller than the divergence angle B, matching the characteristics of the AOD.

[0495] On this basis, an LCPG is used as a coarse scanning device after the AOD to deflect the beam emitted from the AOD by a large angle in a time-sharing manner. For each angle deflected by the LCPG, the AOD performs a fine scan near this angle to achieve coverage of a broadband field of view. During this process, the long side of the strip-shaped beam emitted from the AOD is perpendicular to the optical deflection direction of the AOD, so that compared with the block-shaped scanning light, at the same total power, the field of view angle that can be covered by scanning with the AOD is larger. Therefore, the LCPG only needs to deflect a small number of different angles to cover a relatively large overall field of view. This makes the required number of LCPG layers less, the cost lower, and the response speed faster.

[0496] The embodiment of the present utility model also provides a transmission module, as shown in Figure 26 shown, which includes a light source 300 and an optical deflection device 10;

[0497] The light source 300 is used to emit a beam to the optical deflection device 10;

[0498] The optical deflection device 10 is used to deflect the incident beam emitted by the light source 300 to generate scanning light with different deflection angles and deflection angle switching sequences to achieve scanning of the field of view range.

[0499] The light source 300 includes at least one light source unit, and the light source unit includes at least two emission units 310 spliced along the long axis direction to emit a strip-shaped incident beam that meets the requirements in terms of shape and size. The light source 300 includes any one or a combination of a vertical cavity surface emitting laser, an edge emitting laser, a light emitting diode, a laser diode, a semiconductor laser, and a fiber laser.

[0500] The beam emitted by the light source 300 can be a strip-shaped or non-strip-shaped beam.

[0501] In some embodiments, the bar-shaped light beam emitted by the light source 300 has a length in the first direction that is less than its length in the second direction. The first direction is the deflection direction in which the first light deflection device 100 deflects the incident light beam, and the second direction is perpendicular to the first direction. In this case: the first light deflection device 100 is configured to sequentially deflect the incident light beam by a plurality of different first deflection angles in the first direction; the second light deflection device 200 is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in a two-dimensional array manner in the first direction and the second direction; or, the first light deflection device 100 is configured to sequentially deflect the incident light beam by a plurality of different first deflection angles in the first direction; the second light deflection device 200 is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in the second direction.

[0502] In some embodiments, the bar-shaped light beam emitted by the light source 300 has a length in the second direction that is less than its length in the first direction. The second direction is the deflection direction in which the first light deflection device deflects the incident light beam, and the second direction is perpendicular to the first direction; in this case: the first light deflection device 100 is configured to sequentially deflect the incident light beam by a plurality of different first deflection angles in the second direction; the second light deflection device 200 is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in a two-dimensional array manner in the first direction and the second direction; or, the first light deflection device 100 is configured to sequentially deflect the incident light beam by a plurality of different first deflection angles in the second direction; the second light deflection device 200 is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in the first direction.

[0503] In some embodiments, the light source 300 emits a non-bar-shaped light beam with an aspect ratio within a set threshold range; in this case:

[0504] The first light deflection device 100 is configured to sequentially deflect the incident light beam by a plurality of different first deflection angles in a two-dimensional array manner in the first direction and the second direction; the second light deflection device 200 is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in the first direction or the second direction; or, the first light deflection device 100 is configured to sequentially deflect the incident light beam by a plurality of different first deflection angles in a two-dimensional array manner in the first direction and the second direction; the second light deflection device 200 is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in a two-dimensional array manner in the first direction and the second direction; the second direction is perpendicular to the first direction.

[0505] An embodiment of the present invention further provides a lidar system, the structure of which is shown in Figure 27 as shown, including a receiving module 2 and the above-mentioned transmitting module 1. The receiving module 2 is configured to sense the optical signal from the field of view and obtain the three-dimensional information of the field of view through the processing and analysis of the sensed optical signal.

[0506] An embodiment of the present utility model further provides an electronic device, including the above-mentioned lidar system.

[0507] An embodiment of the present utility model further provides a light scanning method, the process of which is shown in Figure 28 and includes:

[0508] S101: The first light deflector deflects the incident light beam by a plurality of first deflection angles and projects the deflected light beam onto the beam expander;

[0509] In this step, the first light deflector can be controlled by a control device to deflect the light beam. In a deflection period, the first light deflector deflects the light beam at multiple different first deflection angles in a preset order in a time-sharing manner. The first light deflector can be controlled to deflect the incident light beam at multiple different first deflection angles in at least one of the first direction and the second direction in sequence; the first direction and the second direction are perpendicular.

[0510] The deflection period is the time required for the first light deflector to deflect the incident light beam by all the multiple different first deflection angles, or the deflection period is the time required for the first light deflector to deflect the incident light beam by a specified part of the first deflection angles among the first deflection angles.

[0511] In a deflection period, the deflection angles of the light beams at multiple different first deflection angles change from large to small, or from small to large, or change according to a preset random rule in each deflection direction.

[0512] S102: The beam expander magnifies the deflection angle of the deflected light beam in the corresponding deflection direction by a preset multiple and projects the beam-expanded light beam onto the corresponding position of the second light deflector;

[0513] In this step, at least one beam-expanding lens magnifies the deflection angle of the light beam deflected by the first light deflector in at least one of the first direction and the second direction that are perpendicular to each other by a preset multiple. Optionally, at least one beam-expanding lens magnifies the deflection angle of the light beam deflected by the first light deflector in at least one of the first direction and the second direction that are perpendicular to each other by a preset multiple.

[0514] When the beam expander includes two sets of cylindrical lenses, the first set of cylindrical lenses magnifies the deflection angle of the beam deflected by the first optical deflector in the first direction by a preset multiple. The first set of cylindrical lenses includes a first beam-expanding cylindrical lens and a second beam-expanding cylindrical lens, and the preset multiple is the ratio of the focal length of the first beam-expanding cylindrical lens to the focal length of the second beam-expanding cylindrical lens; the second set of cylindrical lenses magnifies the deflection angle of the beam deflected by the first optical deflector in the second direction by a preset multiple. The second set of cylindrical lenses includes a third beam-expanding cylindrical lens and a fourth beam-expanding cylindrical lens, and the preset multiple is the ratio of the focal length of the third beam-expanding cylindrical lens to the focal length of the fourth beam-expanding cylindrical lens; or

[0515] When the beam expander includes two spherical lenses, the first beam-expanding spherical lens and the second beam-expanding spherical lens magnify the deflection angles of the beam deflected by the first optical deflector in the first direction and the second direction by a preset multiple, and the preset multiple is the ratio of the focal length of the first beam-expanding spherical lens to the focal length of the second beam-expanding spherical lens.

[0516] S103: The second optical deflector deflects the beam-expanded beam by a preset second deflection angle to project a scanning beam.

[0517] In this step, the second optical deflector can be controlled by a control device to deflect the beam, and the second optical deflector deflects the beam-expanded beam by a plurality of different second deflection angles in at least one of the first direction and the second direction. Optionally, in one deflection cycle, the plurality of second deflection angles by which the incident beam is deflected are all the same, or all different, or some are the same and some are different.

[0518] In some embodiments, the above method further includes: magnifying the divergence angle of the beam deflected by the first optical deflector in the corresponding deflection direction by a preset multiple to form a bar-shaped beam; and the magnification multiple of the divergence angle is the same as the magnification multiple of the deflection angle of the deflected beam in this deflection direction.

[0519] In some embodiments, among the plurality of different first deflection angles by which the incident beam is deflected, the angular interval between two adjacent first deflection angles is less than or equal to the divergence angle of the beam deflected by the first optical deflector along the deflection direction.

[0520] In some embodiments, the deflection accuracy of the beam deflected by the first deflection angle is higher than the deflection accuracy of the beam deflected by the second deflection angle.

[0521] In some embodiments, the above method further includes: before the incident beam is incident on the first optical deflector, the collimating device collimates the incident beam in the first direction and the second direction respectively; the first direction is the direction in which the first optical deflector deflects the incident beam, and the collimation requirement in the first direction is higher than the collimation requirement in the second direction. The first direction is perpendicular to the second direction.

[0522] In some embodiments, the collimating device collimates the incident light beam in the first direction and the second direction respectively, including:

[0523] One cylindrical lens collimates the incident light beam in the first direction, and another cylindrical lens collimates the incident light beam in the second direction; or

[0524] One spherical lens collimates the incident light beam in both the first direction and the second direction simultaneously; or

[0525] One cylindrical lens collimates the light beam in the first direction, and one spherical lens collimates the light beam in both the first direction and the second direction simultaneously.

[0526] In some embodiments, the divergence angle of the collimated light beam in the first direction after collimation is less than 1 / 10 of the divergence angle of the collimated light beam in the second direction.

[0527] In some embodiments, when the incident light beam emits from the emission position, the emission width V1 in the first direction, the divergence angle θ1 in the first direction, the waist diameter V2 of the light beam in the first direction when the light beam is incident on the first light deflection device, the divergence angle θ2 of the light beam in the first direction when the light beam is incident on the first light deflection device, and the focal length F2 of the collimating lens that collimates the light beam in the first direction satisfy the following relationship: θ2 = V1 / F2, θ2V2 = θ1V1.

[0528] When the incident light beam emits from the emission position, the emission length H1 in the second direction, the divergence angle Θ1 of the light beam emitting in the second direction, the waist diameter H2 of the light beam in the second direction when the light beam is incident on the first light deflection device, the divergence angle Θ2 of the light beam in the second direction when the light beam is incident on the first light deflection device, and the focal length F1 of the collimating lens that collimates the light beam in the second direction satisfy the following relationship: Θ2 = H1 / F1, Θ2H2 = Θ1H1.

[0529] In some embodiments, when the incident light beam emits from the emission position, it is a strip-shaped light beam, and the aspect ratio is 20:1 to 100:1; the aspect ratio of the light beam incident on the first light deflection device is 3:1 to 1:2; the scanned light beam is a strip-shaped light beam, and the aspect ratio is 20:1 to 80:1.

[0530] Optionally, when the incident light beam emits from the emission position, the aspect ratio is 50:1; the aspect ratio of the light beam incident on the first light deflection device is 5:2; the aspect ratio of the scanned light beam is 75:1; or optionally, when the incident light beam emits from the emission position, the aspect ratio is 50:1; the aspect ratio of the light beam incident on the first light deflection device is 5:2; the aspect ratio of the scanned light beam is 25:1.

[0531] In some embodiments, when the second light deflection device adopts a partitioned structure,

[0532] In the above step S102, within a deflection period, the first light deflection device deflects an incident light beam at multiple different first deflection angles in a time-division manner according to a preset order.

[0533] In the above step S102, projecting the beam after beam expansion to corresponding positions on the second light deflection device includes: the beam after beam expansion is incident on corresponding deflection sub-regions of the second light deflection device.

[0534] In the above step S103, the second light deflection device deflects the beam after beam expansion by a preset second deflection angle to project a scanning light beam, including: a control device controls multiple deflection sub-regions in the second light deflection device to receive the beam after beam expansion corresponding to incident light beams at multiple different first deflection angles; the deflection angle of the incident light beam for each deflection sub-region can be adjusted independently; controlling the currently scanned deflection sub-region to deflect the incident light beam by the required second deflection angle; and controlling at least one currently unscanned deflection sub-region to adjust the deflection angle of the incident light beam to the second deflection angle required for the next deflection period after the incident light beam finishes scanning in the current deflection period and before the incident light beam starts scanning in the next deflection period.

[0535] Among them, controlling multiple deflection sub-regions in the second light deflection device to receive incident light beams at multiple different first deflection angles includes: controlling multiple deflection sub-regions to receive light beams at multiple different first deflection angles in a time-division manner.

[0536] When the first light deflection device 100 deflects light beams at multiple different first deflection angles in a time-division manner, controlling multiple deflection sub-regions 212 to receive light beams at multiple different first deflection angles in a time-division manner. The above controlling at least one currently unscanned deflection sub-region to adjust the deflection angle of the light beam to the second deflection angle required for the next deflection period after the light beam finishes scanning in the current deflection period and before the light beam starts scanning in the next deflection period includes: after determining that a deflection sub-region has completed the deflection of the light beam in the current deflection period and is in a non-scanning state, controlling this deflection sub-region to adjust its deflection angle of the light beam, and before entering the scanning state in the next deflection period, adjusting its deflection angle of the light beam to the second deflection angle required for the next deflection period.

[0537] Optionally, if a deflection sub-region is the currently scanned deflection sub-region of the light beam, it is determined that this deflection sub-region is in a scanning state; otherwise, it is determined that this deflection sub-region is in a non-scanning state; or if a deflection sub-region is the currently scanned or the next-to-be-scanned deflection sub-region of the light beam, it is determined that this deflection sub-region is in a scanning state; otherwise, it is determined that this deflection sub-region is in a non-scanning state.

[0538] Further optionally, when the deflection partition currently scanned by the light beam and the next deflection partition to be scanned are determined as the deflection partitions in the scanning state, and the remaining deflection partitions are determined as the deflection partitions in the non-scanning state, the deflection partition currently scanned by the light beam and the next deflection partition to be scanned are adjacent deflection partitions in terms of position.

[0539] In some embodiments, the multiple second deflection angles of the light beam deflection within one deflection period are all the same, or all different, or partially the same and partially different. One deflection partition can sequentially receive incident light beams with one, two, or more than two different first deflection angles within one deflection period. The multiple deflection partitions are configured such that the multiple second deflection angles of the light beam deflection within one deflection period are all the same, or all different, or partially the same and partially different.

[0540] In some embodiments, the number of light beams that each deflection partition can receive is all the same, all different, or partially the same and partially different; correspondingly, the widths of the multiple deflection partitions are all the same, all different, or partially the same and partially different.

[0541] In some embodiments, the voltage applied to the electrodes of each deflection partition is controlled to adjust the refractive index of the medium in the deflection partition for the light beam, so as to adjust the deflection angle of the deflection partition for the light beam. In the case where the second light deflection device uses a liquid crystal polarization grating, the voltage applied to the electrodes of each deflection partition is controlled to adjust the arrangement direction of the liquid crystal molecules in the liquid crystal polarization grating, so as to change the second deflection angle of the deflection partition for the light beam.

[0542] Optionally, the second light deflection device includes at least one light deflection unit, and the light deflection unit includes multiple sub-deflection partitions. In the case where the deflection partition includes the sub-deflection partitions corresponding in position in at least one light deflection unit, the voltages on the electrodes at both ends of each sub-deflection partition are respectively controlled, and the deflection angle of at least one sub-deflection partition for the light beam is changed by changing the voltages on the electrodes at both ends of at least one sub-deflection partition, so as to achieve changing the second deflection angle of the corresponding deflection partition for the light beam.

[0543] Optionally, the second light deflection device includes at least two light deflection unit groups, and each light deflection unit group includes at least one of the light deflection units; the control of the second deflection angle required for the light beam deflection by the currently scanned deflection partition includes: the second deflection angle required for deflecting the light beam in the first direction by the currently scanned sub-deflection partition of the light deflection unit in at least one light deflection unit group, and / or the second deflection angle required for deflecting the light beam in the second direction by the currently scanned sub-deflection partition of the light deflection unit in at least one light deflection unit group, where the first direction and the second direction are perpendicular.

[0544] In some embodiments, the adjustment time of the second deflection angle of the beam by the deflection partition adjustment is not greater than the time interval between two adjacent scans of the deflection partition by the beam.

[0545] In some embodiments, the number of deflection partitions is determined according to the number of second deflection angles deflected by the second optical deflector, the time required for the second optical deflector to deflect the beams with multiple different first deflection angles to multiple different second deflection angles, and the adjustment time required for the second optical deflector to complete one deflection angle adjustment. Optionally, the number D of deflection partitions is an integer greater than or equal to 2 / (1 - FMT), where M is the number of deflection angles of the second optical deflector, F is the frame rate at which the second optical deflector deflects through M deflection angles in one round, and T is the time required for the second optical deflector to complete one deflection angle adjustment.

[0546] In some embodiments, the following control processes are executed in parallel: controlling the currently scanned deflection partition in the second optical deflector to deflect the beam, and controlling at least one currently unscanned deflection partition to adjust its deflection angle for the beam.

[0547] In some embodiments, the field of view range of the optical scan is divided into multiple scan partitions, the scan partitions are rectangular, and the length of the field of view range in the first direction is less than the length in the second direction. The incident beam is a bar beam; scanning the field of view range includes: deflecting the beams with multiple different first deflection angles to the same second deflection angle, which can complete the scan of one corresponding scan partition of the field of view range; deflecting each of the beams with multiple different first deflection angles to multiple different second deflection angles respectively, which can complete the scans of multiple scan partitions corresponding to different multiple second deflection angles; the length of the beam after deflecting the second deflection angle is equal to the length of one direction of the scan partition.

[0548] Optionally, within one deflection period, deflecting the beams with multiple different first deflection angles to the same second deflection angle to complete the scan of one corresponding scan partition of the field of view range; each deflection period corresponds to a different second deflection angle; different deflection periods deflect the second deflection angles of the beams with multiple different first deflection angles differently;

[0549] Optionally, within one deflection period, deflecting each of the beams with multiple different first deflection angles to one of multiple different second deflection angles respectively to scan partial regions in the corresponding scan partitions; wherein, within one deflection period, the second deflection angles by which the beams with multiple different first deflection angles are deflected are the same or different; the second deflection angles by which each of the beams with multiple different first deflection angles is deflected in different deflection periods are different.

[0550] In some embodiments, the above method further includes: changing the temperature of the second light deflector to change the time for the second light deflector to adjust the deflection angle.

[0551] For the above method of the embodiments of the present utility model, the relevant content has been described in detail in the relevant parts of the emission module and the lidar system, and will not be elaborated here.

[0552] In the above description of the embodiments of the present utility model, when multiple are involved, it should be understood to include two or more.

[0553] Unless otherwise specifically stated, terms such as processing, computing, calculating, determining, displaying, etc. may refer...

Claims

1. A light deflection device, characterized in that, It includes a first light deflector, a second light deflector, and a beam expanding device disposed on the light incident side of the second light deflector; The first light deflector is configured to deflect an incident light beam by a plurality of first deflection angles and project the deflected light beam onto the beam expanding device; The beam expanding device is configured to amplify the deflection angle of the deflected light beam in the corresponding deflection direction by a preset multiple U and project the beam-expanded light beam onto a corresponding position of the second light deflector; where 1 < U < 10; The second light deflector is configured to deflect the beam-expanded light beam by a preset second deflection angle.

2. The optical deflection device according to claim 1, characterized in that, The beam expanding device includes at least one beam expanding lens, and the beam expanding lens is a single lens or a combination of two or more lenses; the beam expanding lens includes at least one or any combination of a cylindrical lens, a spherical lens, a meta-lens, and a Fresnel lens; The at least one beam expanding lens is configured to amplify the deflection angle of the light beam deflected by the first light deflector in at least one of a first direction and a second direction perpendicular to each other by a preset multiple.

3. The optical deflection device according to claim 2, characterized in that, The focal length of the beam expanding lens is set according to the magnification of the deflection angle; when the beam expanding device includes two beam expanding lenses, one side focus of one beam expanding lens coincides with one side focus of the other beam expanding lens, and the magnification is the ratio of the focal lengths of the two beam expanding lenses.

4. The optical deflection device according to claim 3, characterized in that, The distance between the first light deflector and the first beam expanding lens of the beam expanding device is the focal length of the first beam expanding lens; the distance between two adjacent beam expanding lenses is the sum of the focal lengths of the two adjacent lenses.

5. The optical deflection device according to claim 2, characterized in that, The beam expanding device includes at least one of a first cylindrical lens group and a second cylindrical lens group; the first cylindrical lens group includes a first beam expanding cylindrical lens and a second beam expanding cylindrical lens, and is configured to amplify the deflection angle of the light beam deflected by the first light deflector in the first direction by a preset multiple, and the preset multiple is the ratio of the focal length of the first beam expanding cylindrical lens to the focal length of the second beam expanding cylindrical lens; the second cylindrical lens group includes a third beam expanding cylindrical lens and a fourth beam expanding cylindrical lens, and is configured to amplify the deflection angle of the light beam deflected by the first light deflector in the second direction by a preset multiple, and the preset multiple is the ratio of the focal length of the third beam expanding cylindrical lens to the focal length of the fourth beam expanding cylindrical lens; Or The beam expanding device includes a first beam expanding spherical lens and a second beam expanding spherical lens, and is configured to amplify the deflection angles of the light beam deflected by the first light deflector in the first direction and the second direction by a preset multiple, and the preset multiple is the ratio of the focal length of the first beam expanding spherical lens to the focal length of the second beam expanding spherical lens.

6. The optical deflection device according to claim 2, wherein, The beam expanding lens is configured to amplify the divergence angle of the light beam deflected by the first light deflector in the corresponding deflection direction by a preset multiple, and the divergence angle magnification is the same as the deflection angle magnification of the deflected light beam in the deflection direction.

7. The optical deflection device according to claim 1, characterized in that, The first light deflector is an acousto-optic deflector, and the second light deflector is a liquid crystal polarization grating. The liquid crystal material of the liquid crystal layer in the liquid crystal polarization grating sheet included in the liquid crystal polarization grating is nematic liquid crystal or blue phase liquid crystal.

8. The optical deflection device according to claim 1, characterized in that, The deflection accuracy of the first light deflector for the light beam is higher than that of the second light deflector for the light beam; Among the multiple different first deflection angles by which the first light deflection device is configured to deflect an incident light beam, the angular interval between two adjacent first deflection angles is less than or equal to the divergence angle of the light beam deflected by the first light deflection device along the deflection direction.

9. The optical deflection device according to claim 1, wherein, The first light deflection device is configured to sequentially deflect the incident light beam by multiple different first deflection angles in at least one of a first direction and a second direction; The second light deflection device is configured to deflect the beam after beam expansion by multiple different second deflection angles in at least one of the first direction and the second direction; The first direction and the second direction are perpendicular.

10. The optical deflection device according to claim 9, characterized in that, The first light deflection device is configured to sequentially deflect the incident light beam by multiple different first deflection angles in the first direction or the second direction; the second light deflection device is configured to deflect the beam after beam expansion by multiple different second deflection angles in a two-dimensional array manner in the first direction and the second direction; or The first light deflection device is configured to sequentially deflect the incident light beam by multiple different first deflection angles in a two-dimensional array manner in the first direction and the second direction; The second light deflection device is configured to deflect the beam after beam expansion by multiple different second deflection angles in a two-dimensional array manner in the first direction and the second direction; or The first light deflection device is configured to sequentially deflect the incident light beam by multiple different first deflection angles in a two-dimensional array manner in the first direction and the second direction; the second light deflection device is configured to deflect the beam after beam expansion by multiple different second deflection angles in the first direction or the second direction; or The first light deflection device is configured to sequentially deflect the incident light beam by multiple different first deflection angles in the first direction; the second light deflection device is configured to deflect the beam after beam expansion by multiple different second deflection angles in the second direction; or The first light deflection device is configured to sequentially deflect the incident light beam by multiple different first deflection angles in the second direction; the second light deflection device is configured to deflect the beam after beam expansion by multiple different second deflection angles in the first direction.

11. The optical deflection device according to claim 9, characterized in that, The length of the light beam incident on the first light deflection device in the first direction is less than the length in the second direction; The first direction is the deflection direction in which the first light deflection device deflects the incident light beam.

12. The optical deflection device according to claim 9, wherein The second light deflection device includes at least one light deflection unit, and the at least one light deflection unit is configured to deflect the beam after beam expansion in the first direction or the second direction; or The second light deflection device includes at least two light deflection unit groups, each light deflection unit group includes at least one light deflection unit, wherein at least one light deflection unit group is configured to deflect the beam after beam expansion in the first direction, and at least one light deflection unit group is configured to deflect the beam after beam expansion in the second direction.

13. The optical deflection device according to claim 12, characterized in that, The second light deflection device includes multiple deflection partitions, and the deflection angle of each deflection partition for the incident light beam can be adjusted individually; the multiple deflection partitions are configured such that the currently scanned deflection partition deflects the incident light beam by the required second deflection angle; The optical deflection device further includes a control device, configured to control the deflection partition currently being scanned in the second optical deflection device to deflect the incident light beam, and control at least one deflection partition not currently being scanned to adjust its deflection angle for the light beam.

14. The optical deflection device according to claim 13, characterized in that, The arrangement direction of the plurality of deflection partitions is consistent with the scanning direction of the incident light beams with a plurality of different first deflection angles.

15. The optical deflection device according to claim 14, characterized in that, When the incident light beam is a strip-shaped light beam with an aspect ratio greater than a set threshold, the first optical deflection device is configured to deflect the incident light beam by a plurality of different first deflection angles along a first direction within one deflection period to perform one-dimensional scanning on the second optical deflection device, and the plurality of deflection partitions included in the second optical deflection device are arranged along the first direction of the light beam deflection; When the incident light beam is a non-strip-shaped light beam with an aspect ratio within the set threshold range, the first optical deflection device is configured to deflect by a plurality of different first deflection angles in a two-dimensional array scanning manner along the mutually perpendicular first direction and second direction within one deflection period to perform two-dimensional scanning on the second optical deflection device, and the plurality of deflection partitions included in the second optical deflection device are arranged in a two-dimensional array along the first direction and the second direction; The first direction is the width direction of the light beam, and the first direction is perpendicular to the second direction.

16. The optical deflection device according to claim 13, characterized in that, When the second optical deflection device is a non-partitioned structure, the control device is configured to control the voltage applied to the electrodes of the second optical deflection device to adjust the refractive index of the medium in the second optical deflection device for the incident light beam, so as to adjust the deflection angle of the second optical deflection device for the incident light beam; When the second optical deflection device is a partitioned structure, the control device is configured to control the voltage applied to the electrodes of each deflection partition to adjust the refractive index of the medium in the deflection partition for the incident light beam, so as to adjust the deflection angle of the deflection partition for the incident light beam.

17. The optical deflection device according to claim 13, characterized in that, When the second optical deflection device includes at least one optical deflection unit, the optical deflection unit includes a plurality of sub-deflection partitions; the deflection partition includes the sub-deflection partitions corresponding in position in the at least one optical deflection unit; the sub-deflection partitions in at least one optical deflection unit included in one deflection partition can form a deflection optical path.

18. The optical deflection device according to claim 17, characterized in that, When the second optical deflection device includes one optical deflection unit, the deflection partition is a sub-deflection partition on this one optical deflection unit; when the second optical deflection device includes two optical deflection units, the deflection partition includes two sub-deflection partitions corresponding in position on these two optical deflection units; when the second optical deflection device includes a plurality of optical deflection units, the deflection partition includes a plurality of sub-deflection partitions corresponding in position on these plurality of optical deflection units.

19. The optical deflection device according to claim 13, characterized in that, The optical deflection unit includes a liquid crystal half-wave plate and a liquid crystal polarization grating plate. The liquid crystal half-wave plate includes electrodes oppositely arranged on both sides and a half-wave plate liquid crystal layer arranged between the electrodes on both sides; One side electrode of the liquid crystal half-wave plate includes a plurality of first electrode segments, and the other side electrode is a first integral electrode. Each rotor sub-region corresponds to at least one first electrode segment; each rotor sub-region includes a portion of the liquid crystal half-wave plate corresponding to the position of the at least one first electrode segment and a portion of the liquid crystal polarization grating corresponding to the position of the at least one first electrode segment; or Both side electrodes of the liquid crystal half-wave plate include a plurality of first electrode segments, and two opposite first electrode segments form a first electrode pair. Each sub-deflection region corresponds to at least one first electrode pair; each rotor sub-region includes a portion of the liquid crystal half-wave plate corresponding to the position of the at least one first electrode pair and a portion of the liquid crystal polarization grating corresponding to the position of the at least one first electrode pair; Wherein, the deflection angle of the corresponding rotor sub-region to the light beam is adjusted by changing the voltage applied to the electrode corresponding to the rotor sub-region in the liquid crystal half-wave plate.

20. The optical deflection device according to claim 13, wherein The light deflection unit includes a liquid crystal half-wave plate and a liquid crystal polarization grating; the liquid crystal half-wave plate includes electrodes oppositely arranged on both sides and a half-wave plate liquid crystal layer arranged between the electrodes on both sides; the liquid crystal polarization grating includes electrodes oppositely arranged on both sides and a grating liquid crystal layer arranged between the electrodes on both sides; One side electrode of the liquid crystal half-wave plate includes a plurality of first electrode segments, and the other side electrode is a first integral electrode; one side electrode of the liquid crystal polarization grating includes a plurality of second electrode segments, and the other side electrode is a second integral electrode; at least one second electrode segment on the liquid crystal polarization grating and at least one first electrode segment corresponding to the position on the liquid crystal half-wave plate form a segment group; or Both side electrodes of the liquid crystal half-wave plate include a plurality of first electrode segments, and two opposite first electrode segments form a first electrode pair; both side electrodes of the liquid crystal polarization grating include a plurality of second electrode segments, and two opposite second electrode segments form a second electrode pair; at least one second electrode pair on the liquid crystal polarization grating and at least one first electrode pair corresponding to the position on the liquid crystal half-wave plate form a segment group; or One side electrode of the liquid crystal polarization grating includes a plurality of second electrode segments, and the other side electrode is a second integral electrode; both side electrodes of the liquid crystal half-wave plate include a plurality of first electrode segments, and two opposite first electrode segments form a first electrode pair; at least one second electrode segment on the liquid crystal polarization grating and at least one first electrode pair corresponding to the position on the liquid crystal half-wave plate form a segment group; or Both side electrodes of the liquid crystal polarization grating include a plurality of second electrode segments, and two opposite second electrode segments form a second electrode pair. One side electrode of the liquid crystal half-wave plate includes a plurality of first electrode segments, and the other side electrode is a first integral electrode; at least one second electrode pair on the liquid crystal polarization grating and at least one first electrode segment corresponding to the position on the liquid crystal half-wave plate form a segment group; Each rotor sub-region corresponds to at least one segment group; each rotor sub-region includes a portion of the liquid crystal half-wave plate corresponding to the position of the segment group and a portion of the liquid crystal polarization grating corresponding to the position of the segment group; Among them, the deflection angle of the corresponding rotor partition for the light beam is adjusted by changing the voltage applied to the electrode corresponding to the rotor partition in the liquid crystal half-wave plate and the voltage applied to the electrode corresponding to the rotor partition in the liquid crystal polarization grating plate.

21. The optical deflection device according to claim 19, characterized in that, All the liquid crystal polarization grating plates of all the light deflection units in the second light deflection device are passive liquid crystal polarization grating plates, or all the liquid crystal polarization grating plates of all the light deflection units in the second light deflection device are active liquid crystal polarization grating plates, or the liquid crystal polarization grating plates of some light deflection units in the second light deflection device are passive liquid crystal polarization grating plates and the liquid crystal polarization grating plates of some light deflection units are active liquid crystal polarization grating plates; the liquid crystal material of the liquid crystal layer is nematic liquid crystal or blue phase liquid crystal.

22. The optical deflection device according to claim 19, characterized in that, The liquid crystal half-wave plate further includes a first substrate and a second substrate arranged oppositely, and the electrodes on both sides are respectively arranged on the inner surfaces of the first substrate and the second substrate facing each other, and the inner surfaces are flat surfaces; The liquid crystal polarization grating plate further includes a third substrate and a fourth substrate arranged oppositely, and the electrodes on both sides are respectively arranged on the inner surfaces of the third substrate and the fourth substrate facing each other, and the inner surfaces are flat surfaces.

23. The optical deflection device according to claim 19, characterized in that, The second light deflection device further includes a quarter-wave plate arranged in front of the first liquid crystal half-wave plate for changing the polarization state of the incident light beam.

24. The optical deflection device according to any one of claims 1 to 23, characterized in that, It further includes a control device; The control device is used to control the first light deflection device and the second light deflection device to deflect the light beam.

25. The optical deflection device according to claim 24, wherein, When the first light deflection device is an acousto-optic deflector, the control device is used to apply a driving signal to the acoustic wave generator of the first light deflection device, and control the acoustic wave frequency of the acoustic wave generator acting on the acousto-optic crystal of the first light deflection device through the driving signal to realize changing the deflection angle of the first light deflection device for the light beam.

26. The optical deflection device according to any one of claims 1-23, characterized in that, It further includes: A collimating device arranged in front of the first light deflection device for collimating the light beam in the first direction and the second direction perpendicular to each other; The first direction is the direction in which the first light deflection device deflects the incident light beam, and the collimation degree of the collimated light beam in the first direction is higher than that in the second direction.

27. The optical deflection device according to claim 26, characterized in that, The collimating device includes at least one collimating lens, and the emitting position of the incident light beam is arranged on the focal plane of the collimating lens; when the collimating device includes at least two collimating lenses, the focal planes of the at least two collimating lenses coincide.

28. The optical deflection device according to claim 26, characterized in that, The collimating device includes a first cylindrical lens and a second cylindrical lens, the first cylindrical lens is configured to collimate the light beam in the first direction, and the second cylindrical lens is configured to collimate the light beam in the second direction; or It includes a spherical lens configured to collimate the light beam in the first direction and the second direction; or It includes a cylindrical lens and a spherical lens, the cylindrical lens is configured to collimate the light beam in the first direction, and the spherical lens is configured to collimate the light beam in the first direction and the second direction.

29. The optical deflection device according to claim 26, characterized in that, When the incident light beam is emitted from the emission position, the luminous width V1 in the first direction, the divergence angle θ1 in the first direction, the waist diameter V2 of the light beam in the first direction when the light beam is incident on the first light deflection device, the divergence angle θ2 of the light beam in the first direction when the light beam is incident on the first light deflection device, and the focal length F2 of the collimating lens for collimating the light beam in the first direction satisfy the following relationship: θ2 = V1 / F2, θ2V2 = θ1V1; When the incident light beam is emitted from the emission position, the luminous length H1 in the second direction, the divergence angle Θ1 in the second direction, the waist diameter H2 of the light beam in the second direction when the light beam is incident on the first light deflection device, the divergence angle Θ2 of the light beam in the second direction when the light beam is incident on the first light deflection device, and the focal length F1 of the collimating lens for collimating the light beam in the second direction satisfy the following relationship: Θ2 = H1 / F1, Θ2H2 = Θ1H1.

30. The optical deflection device according to claim 26, wherein, The incident light beam is a strip-shaped light beam when it is emitted from the emission position, and its length-width ratio is 20:1 to 100:1; the length-width ratio of the light beam incident on the first light deflection device is 3:1 to 1:2; the scanning light beam projected by the second light deflection device is a strip-shaped light beam, and its length-width ratio is 20:1 to 80:

1.

31. The optical deflection device according to claim 26, wherein, The length-width ratio of the incident light beam when it is emitted from the emission position is 50:1; the length-width ratio of the light beam incident on the first light deflection device is 5:2; the length-width ratio of the scanning light beam projected by the second light deflection device is 75:1; or The length-width ratio of the incident light beam when it is emitted from the emission position is 50:1; the length-width ratio of the light beam incident on the first light deflection device is 5:2; the length-width ratio of the scanning light beam is 25:

1.

32. The optical deflection device according to claim 26, wherein, When the light beam emitted by the light source is linearly polarized light, a half-wave plate is further included and disposed between the collimating device and the first light deflection device for changing the polarization direction of the light beam; The optical axis of the half-wave plate is perpendicular to the direction of the light beam emitted from the collimating device, and the electric field direction of the linearly polarized light forms a 45-degree angle with the fast axis of the half-wave plate, or the electric field direction of the linearly polarized light forms a 45-degree angle with the slow axis of the half-wave plate.

33. The optical deflection device according to claim 1, characterized in that, The light deflection device is used in the emission module of the lidar system; or the light deflection device is the light deflection device in the emission module of the lidar system.

34. A transmitting module, characterized in that, It includes a light source and the light deflection device according to any one of claims 1-33; The light source is used for emitting a light beam to the light deflection device; The light deflection device is used for deflecting the light beam emitted by the light source to generate scanning light with different deflection angles and deflection angle switching sequences so as to realize the scanning of the field of view range.

35. The emission module according to claim 34, wherein The length of the strip-shaped light beam emitted by the light source in the first direction is less than the length in the second direction, the first direction is the deflection direction of the first light deflection device for deflecting the incident light beam, and the second direction is perpendicular to the first direction; wherein, The first light deflector is configured to sequentially deflect an incident light beam by a plurality of different first deflection angles in a first direction; the second light deflector is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in a two-dimensional array manner in the first direction and the second direction; or, the first light deflector is configured to sequentially deflect an incident light beam by a plurality of different first deflection angles in a first direction; the second light deflector is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in the second direction. Or The bar-shaped light beam emitted by the light source has a length along the second direction that is less than the length along the first direction. The second direction is the deflection direction of the first light deflector for deflecting the incident light beam, and the second direction is perpendicular to the first direction. Wherein, The first light deflector is configured to sequentially deflect an incident light beam by a plurality of different first deflection angles in the second direction; the second light deflector is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in a two-dimensional array manner in the first direction and the second direction; or, the first light deflector is configured to sequentially deflect an incident light beam by a plurality of different first deflection angles in the second direction; the second light deflector is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in the first direction. Or The light source emits a non-bar-shaped light beam with an aspect ratio within a set threshold range. Wherein, The first light deflector is configured to sequentially deflect an incident light beam by a plurality of different first deflection angles in a two-dimensional array manner in the first direction and the second direction; the second light deflector is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in the first direction or the second direction. The first light deflector is configured to sequentially deflect an incident light beam by a plurality of different first deflection angles in a two-dimensional array manner in the first direction and the second direction; the second light deflector is configured to deflect the beam after beam expansion by a plurality of different second deflection angles in a two-dimensional array manner in the first direction and the second direction. The second direction is perpendicular to the first direction.

36. The emission module according to any one of claims 34-35, characterized in that, The light source includes any one or a combination of an edge-emitting laser (EEL), a vertical-cavity surface-emitting laser (VCSEL), a light-emitting diode (LED), a laser diode (LD), a semiconductor laser, and a fiber laser.

37. A lidar system, characterized in that, Comprising a receiving module and a transmitting module according to any one of claims 34-36; The receiving module is configured to sense an optical signal from a field of view and obtain three-dimensional information of the field of view through processing and analysis of the sensed optical signal.

38. An electronic device, characterized in that, Comprising a lidar system according to claim 37.

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